IEEE - Institute of Electrical and Electronics Engineers, Inc. - A data-efficient geometrically inspired polynomial kernel for robot inverse dynamics

Author(s): Alberto Dalla Libera ; Ruggero Carli
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Volume: PP
Page(s): 1
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2019.2945240
Regular:

In this paper, 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... View More

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