Abstract
We present a framework for generating motions drawn from parametrized classes of motions and in response to goals chosen arbitrarily from a set. Our framework is based on learning a manifold representation of possible trajectories, from a set of example trajectories that are generated by a (computationally expensive) process of optimization. We show that these examples can be utilized to learn a manifold on which all feasible trajectories corresponding to a skill are the geodesics. This manifold is learned by inferring the local tangent spaces from data. Our main result is that this process allows us to define a flexible and computationally efficient motion generation procedure that comes close to the much more expensive computational optimization procedure in terms of accuracy while taking a small fraction of the time to perform a similar computation.
An extended version of this paper appears in [4].
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© 2013 Springer-Verlag Berlin Heidelberg
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Havoutis, I., Ramamoorthy, S. (2013). Motion Generation with Geodesic Paths on Learnt Skill Manifolds. In: Mombaur, K., Berns, K. (eds) Modeling, Simulation and Optimization of Bipedal Walking. Cognitive Systems Monographs, vol 18. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36368-9_4
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DOI: https://doi.org/10.1007/978-3-642-36368-9_4
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