On Choosing Structure for a Machine Learning-based Reaction Force Predictor for Walking Robots

作     者：E Zalyaev S Savin A Salikhzyanov S Golousov 

作者机构：Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis 420500 Russia Edge Vision Ltd. Innopolis 420500 Russia Technology Arrival Ltd Banbury London UK 

出 版 物：《Journal of Physics: Conference Series》 

年 卷 期：2021年第1831卷第1期

学科分类：07[理学] 0702[理学-物理学] 

摘      要：This paper focuses on the topic of contact reaction prediction for walking robots, namely on the analysis of performances on different structures of the machine-learning-based predictors. Predicting reaction forces is important due to the fact that it can allow us to retrieve a simplified model of the contact scenario, as was proposed in the literature preciously. This allows to turn the problem of contact model identification into a data collection and processing problem. In order to do it effectively, both a data compression (feature extraction) and regression strategies might be used. This research provides an analysis of both with respect to the discussed problem.