Exploiting the virtue of redundancy

Amir Karniel, Ron Meir, Gideon F. Inbar

Research output: Contribution to conferencePaperpeer-review

7 Scopus citations

Abstract

Bernstein suggests that redundancy is the main reason for the superb dexterity of human motor control. However, introducing redundancy, in an inversely controlled object, results in an ill-posed problem. We suggest learning all the possible solutions and choosing one of them in real time. In this paper we define redundancy and differentiate between finite, countable and uncountable redundancy. We introduce a general concept of multiple controller and describe a specific architecture, the polyhedral mixture of linear experts (PMLE). We extend some notions of learning theory to the case of multiple valued functions and stress the difference between estimated inverse and inverse estimation. Then we show that the multiple inverse PMLE is suitable in serving as a multiple controller.

Original languageEnglish
Pages2204-2209
Number of pages6
StatePublished - 1 Jan 1999
Externally publishedYes
EventInternational Joint Conference on Neural Networks (IJCNN'99) - Washington, DC, USA
Duration: 10 Jul 199916 Jul 1999

Conference

ConferenceInternational Joint Conference on Neural Networks (IJCNN'99)
CityWashington, DC, USA
Period10/07/9916/07/99

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence

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