Dynamics Model Abstraction Scheme Using Radial Basis Functions
Figure 6
Comparison between dense position-driven control scheme (column A) and the sparse velocity-driven control scheme (column B) for the case related to object 0. RMSE () of predicted values of the sensors and using a sparse velocity-driven scheme (B) are always lower than the ones obtained using dense position-driven control (A). The sensor that suffers more significantly from jerks when using dense position-driven scheme is . The darker colour in the top of the columns indicates the increment of RMSE in the test stage. The test results are always slightly higher. The variance value obtained with the cross-validation method for the test results is also included. Figures 6(a) and 6(b) are related to the cases of a nonfixed and a fixed robot respectively.
