Online incremental learning of inverse dynamics incorporating prior knowledge

Joseph Sun De La Cruz, Dana Kulić, William Owen

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

12 Citations (Scopus)

Abstract

Recent approaches to model-based manipulator control involve data-driven learning of the inverse dynamics relationship of a manipulator, eliminating the need for any knowledge of the system model. Ideally, such algorithms should be able to process large amounts of data in an online and incremental manner, thus allowing the system to adapt to changes in its model structure or parameters. Locally Weighted Projection Regression (LWPR) and other non-parametric regression techniques have been applied to learn manipulator inverse dynamics. However, a common issue amongst these learning algorithms is that the system is unable to generalize well outside of regions where it has been trained. Furthermore, learning commences entirely from 'scratch,' making no use of any a-priori knowledge which may be available. In this paper, an online, incremental learning algorithm incorporating prior knowledge is proposed. Prior knowledge is incorporated into the LWPR framework by initializing the local linear models with a first order approximation of the available prior information. It is shown that the proposed approach allows the system to operate well even without any initial training data, and further improves performance with additional online training.

Original languageEnglish
Title of host publicationAutonomous and Intelligent Systems - Second International Conference, AIS 2011, Proceedings
PublisherSpringer
Pages167-176
Number of pages10
ISBN (Print)9783642215377
DOIs
Publication statusPublished - 13 Jul 2011
Externally publishedYes
EventInternational Conference on Autonomous and Intelligent Systems, AIS 2011 - Burnaby, BC, Canada
Duration: 22 Jun 201124 Jun 2011
Conference number: 2nd

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume6752 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

ConferenceInternational Conference on Autonomous and Intelligent Systems, AIS 2011
Country/TerritoryCanada
CityBurnaby, BC
Period22/06/1124/06/11

Keywords

  • Control
  • Learning
  • Robotics

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