From the monthly archives: October 2011
Today I implemented simple algorithm to lift object when iCub successfully grasps it. While iCub was learning (online learning of Grasping CACLA), I took this very nice screenshot of sucessful grasp and lift of the grasped object. Video – iCub learns grasping (after 200-300 learning epizodes)
iCub simulator is built on Open Dynamics Engine (ODE) and OpenGL. We found out, that in the simulator, all objects have very small weight and we cannot set the weight or density of the objects. While in our work we expect iCub to grasp objects with different weights, we need to overcome this problem. Since [...]
In the last two months I did several experiments on my iCub simulator. Reaching I had enhanced my reaching module and tested it with various parameters and state/action representations. In each experiment I train reaching CACLA for 1000-2000 episodes and test it on the fly after every 50 episodes. In most of experiments I used [...]
About
Master thesis of Lukáš Zdechovan,
Lukáš Zdechovan (Author)
a master degree student of Applied Informatics at Comenius University. Thesis is lead by docent Igor Farkaš.Categories
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