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Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module

(2010)
Author
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Project
  • AMARSi
Abstract
The goal of this deliverable is two-fold: (1) to present and compare different approaches towards learning and encoding movements us- ing dynamical systems that have been developed by the AMARSi partners (in the past during the first 6 months of the project), and (2) to analyze their suitability to be used as adaptive modules, i.e. as building blocks for the complete architecture that will be devel- oped in the project. The document presents a total of eight approaches, in two groups: modules for discrete movements (i.e. with a clear goal where the movement stops) and for rhythmic movements (i.e. which exhibit periodicity). The basic formulation of each approach is presented together with some illustrative simulation results. Key character- istics such as the type of dynamical behavior, learning algorithm, generalization properties, stability analysis are then discussed for each approach. We then make a comparative analysis of the different approaches by comparing these characteristics and discussing their suitability for the AMARSi project.

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Citation

Please use this url to cite or link to this publication:

MLA
Ajallooeian, Mostafa et al. “Comparative Evaluation of Approaches in T.4.1-4.3 and Working Definition of Adaptive Module.” 2010 : n. pag. Print.
APA
Ajallooeian, M., Gay, S., Ijspeert, A., Khansari-Zadeh, M., Kim, S., Billard, A., Rückert, E., et al. (2010). Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module.
Chicago author-date
Ajallooeian, Mostafa, Sébastien Gay, Auke Ijspeert, Mohammad Khansari-Zadeh, Seungsu Kim, Aude Billard, Elmar Rückert, et al. 2010. “Comparative Evaluation of Approaches in T.4.1-4.3 and Working Definition of Adaptive Module.”
Chicago author-date (all authors)
Ajallooeian, Mostafa, Sébastien Gay, Auke Ijspeert, Mohammad Khansari-Zadeh, Seungsu Kim, Aude Billard, Elmar Rückert, Gerhard Neumann, Tim Waegeman, Francis wyffels, Benjamin Schrauwen, Andre Lemme, Felix Reinhart, Matthias Rolf, Jochen Steil, Juan Pablo Carbajal, Hidenobu Sumioka, Qian Zhao, and Naveen Kuppuswamy. 2010. “Comparative Evaluation of Approaches in T.4.1-4.3 and Working Definition of Adaptive Module.”
Vancouver
1.
Ajallooeian M, Gay S, Ijspeert A, Khansari-Zadeh M, Kim S, Billard A, et al. Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module. 2010.
IEEE
[1]
M. Ajallooeian et al., “Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module.” 2010.
@misc{3005003,
  abstract     = {{The goal of this deliverable is two-fold: (1) to present and compare different approaches towards learning and encoding movements us- ing dynamical systems that have been developed by the AMARSi partners (in the past during the first 6 months of the project), and (2) to analyze their suitability to be used as adaptive modules, i.e. as building blocks for the complete architecture that will be devel- oped in the project. The document presents a total of eight approaches, in two groups: modules for discrete movements (i.e. with a clear goal where the movement stops) and for rhythmic movements (i.e. which exhibit periodicity). The basic formulation of each approach is presented together with some illustrative simulation results. Key character- istics such as the type of dynamical behavior, learning algorithm, generalization properties, stability analysis are then discussed for each approach. We then make a comparative analysis of the different approaches by comparing these characteristics and discussing their suitability for the AMARSi project.}},
  author       = {{Ajallooeian, Mostafa and Gay, Sébastien and Ijspeert, Auke and Khansari-Zadeh, Mohammad and Kim, Seungsu and Billard, Aude and Rückert, Elmar and Neumann, Gerhard and Waegeman, Tim and wyffels, Francis and Schrauwen, Benjamin and Lemme, Andre and Reinhart, Felix and Rolf, Matthias and Steil, Jochen and Carbajal, Juan Pablo and Sumioka, Hidenobu and Zhao, Qian and Kuppuswamy, Naveen}},
  language     = {{eng}},
  title        = {{Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module}},
  url          = {{http://www.amarsi-project.eu/system/files/Deliverable_4_1_0.pdf}},
  year         = {{2010}},
}