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  Model Learning with Local Gaussian Process Regression

Nguyen-Tuong, D., Seeger, M., & Peters, J. (2009). Model Learning with Local Gaussian Process Regression. Advanced Robotics, 23(15), 2015-2034. doi:10.1163/016918609X12529286896877.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-C208-5 Version Permalink: http://hdl.handle.net/21.11116/0000-0002-BB2A-D
Genre: Journal Article

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 Creators:
Nguyen-Tuong, D1, 2, Author              
Seeger, M1, 2, Author              
Peters, J1, 2, Author              
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: Precise models of robot inverse dynamics allow the design of significantly more accurate, energy-efficient and compliant robot control. However, in some cases the accuracy of rigid-body models does not suffice for sound control performance due to unmodeled nonlinearities arising from hydraulic cable dynamics, complex friction or actuator dynamics. In such cases, estimating the inverse dynamics model from measured data poses an interesting alternative. Nonparametric regression methods, such as Gaussian process regression (GPR) or locally weighted projection regression (LWPR), are not as restrictive as parametric models and, thus, offer a more flexible framework for approximating unknown nonlinearities. In this paper, we propose a local approximation to the standard GPR, called local GPR (LGP), for real-time model online learning by combining the strengths of both regression methods, i.e., the high accuracy of GPR and the fast speed of LWPR. The approach is shown to have competitive learning performance for hig h-dimensional data while being sufficiently fast for real-time learning. The effectiveness of LGP is exhibited by a comparison with the state-of-the-art regression techniques, such as GPR, LWPR and 957;-support vector regression. The applicability of the proposed LGP method is demonstrated by real-time online learning of the inverse dynamics model for robot model-based control on a Barrett WAM robot arm.

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 Dates: 2009-11
 Publication Status: Published in print
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 Table of Contents: -
 Rev. Method: -
 Identifiers: DOI: 10.1163/016918609X12529286896877
BibTex Citekey: 6067
 Degree: -

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Title: Advanced Robotics
  Other : Advanced Robotics: the international journal of the Robotics Society of Japan
  Abbreviation : Adv. Robot.
Source Genre: Journal
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Publ. Info: Utrecht : VNU Sciences Pr.
Pages: - Volume / Issue: 23 (15) Sequence Number: - Start / End Page: 2015 - 2034 Identifier: ISSN: 0169-1864
CoNE: https://pure.mpg.de/cone/journals/resource/01691864