Incremental Semiparametric Inverse Dynamics Learning

Abstract-- This paper presents a novel approach for incremental semiparametric inverse dynamics learning. In particular, we consider the mixture of two approaches: Parametric modeling based on rigid body dynamics equations and nonparametric modeling based on incremental kernel methods, with no prior information on the mechanical properties of the system. We validate the proposed technique learning the dynamics of one arm of the iCub humanoid robot. I. INTRODUCTION In order to control a robot a model describing the relation between the actuator inputs, the interactions with the world and bodies accelerations is required. This model is called the dynamics model of the robot.