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  Learning new basic Movements for Robotics

Kober, J., & Peters, J. (2009). Learning new basic Movements for Robotics. In R. Dillmann, J. Beyerer, C. Stiller, M. Zöllner, & T. Gindele (Eds.), Autonome Mobile Systeme 2009 (pp. 105-112). Berlin, Germany: Springer.

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 Creators:
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: Obtaining novel skills is one of the most important problems in robotics. Machine learning techniques may be a promising approach for automatic and autonomous acquisition of movement policies. However, this requires both an appropriate policy representation and suitable learning algorithms. Employing the most recent form of the dynamical systems motor primitives originally introduced by Ijspeert et al. [1], we show how both discrete and rhythmic tasks can be learned using a concerted approach of both imitation and reinforcement learning, and present our current best performing learning algorithms. Finally, we show that it is possible to include a start-up phase in rhythmic primitives. We apply our approach to two elementary movements, i.e., Ball-in-a-Cup and Ball-Paddling, which can be learned on a real Barrett WAM robot arm at a pace similar to human learning.

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 Dates: 2009-12
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1007/978-3-642-10284-4_14
BibTex Citekey: 6072
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Title: Autonome Mobile Systeme 2009: 21. Fachgespräch (AMS 2009)
Place of Event: Karlsruhe, Germany
Start-/End Date: 2009-10-03 - 2009-10-04

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Title: Autonome Mobile Systeme 2009
Source Genre: Proceedings
 Creator(s):
Dillmann, R, Editor
Beyerer, J, Editor
Stiller, C, Editor
Zöllner, M, Editor
Gindele, T, Editor
Affiliations:
-
Publ. Info: Berlin, Germany : Springer
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 105 - 112 Identifier: ISBN: 13-978-3-642-10283-7

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Title: Informatik aktuell
Source Genre: Series
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Pages: - Volume / Issue: - Sequence Number: - Start / End Page: - Identifier: -