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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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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-C1DC-2 Version Permalink: https://hdl.handle.net/21.11116/0000-0002-CB31-2
Genre: Conference Paper

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https://link.springer.com/content/pdf/10.1007%2F978-3-642-10284-4_14.pdf (Publisher version)
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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: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1007/978-3-642-10284-4_14
BibTex Citekey: 6072
 Degree: -

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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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Publ. Info: -
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: - Identifier: -