This paper proposes a linear Gaussian Process learning framework which can be used in the both of semi-parametric and non-parametric models. Inspired by the linear relationship in Euler–Lagrange equation, this approach reduces the dimension of the previous models, which in turn improve the learning efficiency. Besides, the linear relationship results in the better generalization. Simulational results verify the feasibility of the proposed method by predicting the status of a two degrees-of-freedom (DOF) manipulator.
Linear Gaussian Processes for Data-Efficient Robot Dynamics Learning
Lect. Notes Electrical Eng.
2021-10-30
11 pages
Article/Chapter (Book)
Electronic Resource
English
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