Inverse Dynamics Model


I was trying to understand the "inverse-dynamics model" block in the paper by Mitsuo Kawato. First, I thought that somehow he's applying sequential input to simple ANN. Besides, it has a feedback signal. This internal feedback loop replaces long-loop feedback that's usually used in reinforcement learning.


4 wheel robot


Ackermann kinematic

See also

  • Inverse dynamics learning with PEST (internal parameter estimation), model based DBM (Dynamic Bezier Map) and feed forward neural network (input: angle, angular velocity and acceleration; output: torque; separate network for every joint)

[1] [2].

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