Implemented the Inverse Kinematics algorithm using machine learning methods. Applied this IK solver to a 7DOF Baxter Robot to reach particular targets with different redundancy resolutions. Analysed the performance to get the best configuration.
This is part of the course Robot Learning and Sensorimotor Control (RLSC) at Edinburgh, which is introducing a Machine Learning approach to the challenges in various aspects involved in motor planning, control, estimation, prediction and learning with an emphasis on the computational perspective. This project interests me significantly and results in me being inclined to research more in Robotics and Artificial Intelligence.
Below is a demo video for the simulation of this program on a 7DOF Baxter robot.