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  Learning Table Tennis with a Mixture of Motor Primitives

Mülling, K., Kober, J., & Peters, J. (2010). Learning Table Tennis with a Mixture of Motor Primitives. In 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010) (pp. 411-416). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-BD32-C Version Permalink: http://hdl.handle.net/21.11116/0000-0002-7E32-9
Genre: Conference Paper

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 Creators:
Mülling, K1, 2, Author              
Kober, J1, 2, Author              
Peters, J1, 2, Author              
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: Table tennis is a sufficiently complex motor task for studying complete skill learning systems. It consists of several elementary motions and requires fast movements, accurate control, and online adaptation. To represent the elementary movements needed for robot table tennis, we rely on dynamic systems motor primitives (DMP). While such DMPs have been successfully used for learning a variety of simple motor tasks, they only represent single elementary actions. In order to select and generalize among different striking movements, we present a new approach, called Mixture of Motor Primitives that uses a gating network to activate appropriate motor primitives. The resulting policy enables us to select among the appropriate motor primitives as well as to generalize between them. In order to obtain a fully learned robot table tennis setup, we also address the problem of predicting the necessary context information, i.e., the hitting point in time and space where we want to hit the ball. We show that the resulting setup was capable of playing rudimentary table tennis using an anthropomorphic robot arm.

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 Dates: 2010-12
 Publication Status: Published in print
 Pages: -
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 Rev. Method: -
 Identifiers: DOI: 10.1109/ICHR.2010.5686298
BibTex Citekey: 6745
 Degree: -

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Title: 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010)
Place of Event: Nashville, TN, USA
Start-/End Date: 2010-12-06 - 2010-12-08

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Title: 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 411 - 416 Identifier: ISBN: 978-1-4244-8690-8