Online learning of inverse dynamics via Gaussian Process Regression

摘要

Model-based control strategies for robot manipulators can present numerous performance advantages when an accurate model of the system dynamics is available. In practice, obtaining such a model is a challenging task which involves modeling such physical processes as friction, which may not be well understood and difficult to model. This paper proposes an approach for online learning of the inverse dynamics model using Gaussian Process Regression. The Sparse Online Gaussian Process (SOGP) algorithm is modified to allow for incremental updates of the model and hyperparameters. The influence of initialization on the performance of the learning algorithms, based on any a-priori knowledge available, is also investigated. The proposed approach is compared to existing learning and fixed control algorithms and shown to be capable of fast initialization and learning rate.