After I finished all my exams and took a rest for a couple of weeks I returned to my master thesis.
So what did I do in this period:

  • added separate neural networks that acts as forward and inverse model, which both learns from data gathered during CACLA learning (to reach object).
  • created a C++ class with a lot of helpful commands for iCub (methods for environment construction, body manipulation, etc.)
  • created class which specializes on grasping (hand manipulation) with parametrized methods to hand flexion, extension and such things.

I plan to connect this grasping class to some learning algorithm (like CACLA) and experiment with it.

I also read more carefully an article about Infant grasp learning and found out lots of interesting biological information (maybe I can later compare my experiment with iCub to how human infants learn to grasp).

     

    92 Responses to June – July 2011

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