Reading Group

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Revision as of 18:19, 25 June 2010 by Advaitjain (Talk | contribs) (Force Control of Manipulators:)

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Administrative Stuff

Machine Learning:

  • We will be meeting in HRL every Wednesday at noon.
  • Feel free to bring lunch and/or other snackies.

Force Control of Manipulators:

  • We will meet on Mondays at 11:00.

Schedule

Machine Learning:

  • 6/9/2010: Jan Peters, Sethu Vijayakumar, Stefan Schaal. Reinforcement Learning for Humanoid Robotics. International Conference on Humanoid Robots 2003. pdf
  • 6/11/2010, 6/16/2010 Kober, J.; Peters, J. (2009). Learning Motor Primitives for Robotics, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) pdf
  • 6/23/2010 Jens Kober, and Jan Peters. Policy Search for Motor Primitives in Robotics. NIPS 2008 pdf
Notes from JK Salisbury paper. June 21

Force Control of Manipulators:

  • Jun 21, 2010: J.K. Salisbury, "Active stiffness control of a manipulator in Cartesian coordinates," Proc. 19th IEEE Conference on Decision and Control, 1980.
  • Jun 25, 2010:
    • Look at the thumbnail, Notes from JK Salisbury paper.
    • Stuart Glaser's (Stu's) controller: There's no paper. For citations, please cite the wiki page for the teleop_controllers package and the stack version (pr2_cockpit 0.1). The best reference for how it works is the code ( attached). The controller is a riff off of "Simplified Acceleration Based Control Variation 1" from this paper (Comparative experiments on task space control with redundancy resolution by Nakanishi, Cory, Mistry, Peters and Schaal, IROS 2005)

Authors to Read

Machine Learning:

Force Control of Manipulators:

For initial background

Suggested Papers

Machine Learning:

  • Fernando De la Torre's component analysis paper.
  • Choon Hui Teo, S. V. N. Vishwanathan, Alex J. Smola, and Quoc V. Le. Bundle Methods for Regularized Risk Minimization. Journal of Machine Learning Research, 11:311–365, January 2010. pdf
  • Jan Peters, Stefan Schaal. Policy Gradient Methods for Robotics. IROS 2006. pdf
  • Jan Peters, Stefan Schall. Learning to Control in Operational Space. IJRR 08. download from library website
  • Todd Hester, Michael Quinlan, and Peter Stone. Generalized Model Learning for Reinforcement Learning on a Humanoid Robot. In IEEE International Conference on Robotics and Automation (ICRA), May 2010. pdf video related work
  • Jonas Buchli, Evangelos Theodorou, Freek Stulp, Stefan Schaal. Variable Impedance Control A Reinforcement Learning Approac. Robotic Systems Science. pdf
  • Detry,R.; Baseski, E.; Popovic, M.; Touati, Y.; Krueger, N.; Kroemer, O.; Peters, J.; Piater, J. (2010). Learning Continuous Grasp Affordances by Sensorimotor Exploration, From Motor Learning to Interaction Learning in Robots, Springer Verlag, 264. pdf

Force Control of Manipulators:

  • Neville Hogan, Impedance control: an approach to manipulation: parts 1,2, 3

Skin Sensing

  • Tactile Sensing—From Humans to Humanoids. Dahiya, R.S. Metta, G. Valle, M. Sandini, G., Feb 2010, Volume: 26 Issue: 1. On page(s): 1 - 20 link