Browse wiki
From MurrayWiki
A bootstrappable bio-plausible design for visual pose stabilization |
Abstract |
We consider the problem of purely visual p … We consider the problem of purely visual pose stabilization of a second-order rigid-body system: how to choose forces and torques, based on the visual input alone, such that the view converges to a memorized goal image. Emphasis has been given to the bio-plausibility of the computation, in the sense that the control laws could be in principle implemented on the neural substrate of simple insects. We show that stabilizing laws can be realized by bilinear/quadratic operations on the visual input. Moreover, the control laws can be ``bootstrapped'' (learned unsupervisedly) from experience, which further substantiate the bio-plausibility of such computation. the bio-plausibility of such computation. +
|
---|---|
Authors | Shuo Han, Andrea Censi, Andrew D Straw, Richard M Murray + |
ID | 2009k + |
Source | International Conference on Robotics and Automation (ICRA), 2010 (Submitted) + |
Tag | hcsm10-icra + |
Title | A bootstrappable bio-plausible design for visual pose stabilization + |
Type | Preprint + |
Categories | Papers |
Modification date This property is a special property in this wiki.
|
15 May 2016 06:16:33 + |
URL This property is a special property in this wiki.
|
http://www.cds.caltech.edu/~murray/preprints/hcsm10-icra_s.pdf + |
hide properties that link here |
A bootstrappable bio-plausible design for visual pose stabilization + | Title |
---|