图 书 馆
用触觉感知反馈主动序贯估计目标动力学Active Sequential Estimation of Object Dynamics with Tactile Sensory Feedback |
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| 课程网址: | http://videolectures.net/rss2010_ting_ase/ |
| 主讲教师: | Jo-Anne Ting |
| 开课单位: | 不列颠哥伦比亚大学 |
| 开课时间: | 2010-11-08 |
| 课程语种: | 英语 |
| 中文简介: |  |
| 课程简介: | Estimating parameters of object dynamics, such as viscosity or internal degrees of freedom, is key in the autonomous and dexterous robotic manipulation of objects. Oftentimes, it may be challenging to accurately and efficiently estimate these object parameters due to the complex highly nonlinear underlying physical processes. In an effort to improve the quality of hand-crafted solutions, we examine how control strategies can be automatically generated. We present an active learning framework that sequentially gathers data samples, using information-theoretic criteria to find the optimal actions to perform at each time step. Our framework is evaluated on a robotic hand-arm where the task involves optimizing actions (shaking frequency and rotation of shaking) in order determine viscosity of liquids, given only tactile sensory feedback. The active framework performs better than other simple strategies and speeds up the convergence of estimates. |
| 关 键 词: | 物体动力学; 主动学习框架; 机器人 |
| 课程来源: | 视频讲座网 |
| 最后编审: | 2019-09-17：lxf |
| 阅读次数: | 58 |