Manipulation Manifolds: Explorations into Uncovering Manifolds in Sensory-Motor Spaces
Odest Chadwicke Jenkins, Bobby Bodenheimer, Richard Alan Peters II
Abstract
This paper presents results from the application of dimensionality
reduction algorithms to sensory-data time-series that were recorded
from Robonaut NASA's humanoid robot while it was being
teleoperated through four tool manipulation tasks. The algorithms
tested were Principal Component Anal- ysis, Multidimensional Scaling,
and Spatio-Temporal Isomap. Structures were shown to exist in some
cases, but their detection required careful analysis and a correct
choice of parameters.
Bobby Bodenheimer 