Name
Abstract | ||
|---|---|---|
In this letter, we introduce a novel data-driven inverse dynamics estimator based on Gaussian Process Regression. Driven by the fact that the inverse dynamics can be described as a polynomial function on a suitable input space, we propose the use of a novel kernel, called
<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Geometrically Inspired Polynomial Kernel</italic>
(GIP). The resulting estimator behaves similarly to model-based approaches as concerns data efficiency. Indeed, we proved that the GIP kernel defines a finite-dimensional Reproducing Kernel Hilbert Space that contains the inverse dynamics function computed through the Rigid Body Dynamics. The proposed kernel is based on the recently introduced
<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Multiplicative Polynomial Kernel</italic>
, a redefinition of the classical polynomial kernel equipped with a set of parameters that allows for a higher regularization. We tested the proposed approach in a simulated environment, and also in real experiments with a UR10 robot. The obtained results confirm that, compared to other data-driven estimators, the proposed approach is more data-efficient and exhibits better generalization properties. Instead, with respect to model-based estimators, our approach requires less prior information and is not affected by model bias. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/LRA.2019.2945240 | international conference on robotics and automation |
Keywords | Field | DocType |
Kernel,Ground penetrating radar,Robot kinematics,Mathematical model,Standards,Kinematics | Kernel (linear algebra),Inverse,Applied mathematics,Polynomial,Control theory,Polynomial kernel,Regularization (mathematics),Engineering,Inverse dynamics,Reproducing kernel Hilbert space,Estimator | Journal |
Volume | Issue | ISSN |
5 | 1 | 2377-3766 |
Citations | PageRank | References |
1 | 0.37 | 0 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Alberto Dalla Libera | 1 | 3 | 2.79 |
| Ruggero Carli | 2 | 894 | 69.17 |