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  Motor Skill Learning for Cognitive Robotics

Peters, J. (2008). Motor Skill Learning for Cognitive Robotics. Talk presented at 6th International Cognitive Robotics Workshop (CogRob 2008). Patras, Greece. 2008-07-21 - 2008-07-22.

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 Creators:
Peters, J1, 2, Author           
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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: Autonomous robots that can assist humans in situations of daily life have been a long standing vision of robotics, artificial intelligence, and cognitive sciences. A first step towards this goal is to create robots that can learn tasks triggered by environmental context or higher level instruction. However, learning techniques have yet to live up to this promise as only few methods manage to scale to high-dimensional manipulator or humanoid robots. In this tutorial, we give a general overview on motor skill learning for cognitive robotics using research at ATR, USC, CMU and Max-Planck in order to illustrate the problems in motor skill learning. For doing so, we discuss task-appropriate representations and algorithms for learning robot motor skills. Among the topics are the learning basic movements or motor primitives by imitation and reinforcement learning, learning rhytmic and discrete movements, fast regression methods for learning inverse dynamics and setups for learning task-space policies. Examples on various robots, e.g., SARCOS DB, the SARCOS Master Arm, BDI Little Dog and a Barrett WAM, are shown and include Ball-in-a-Cup, T-Ball, Juggling, Devil-Sticking, Operational Space Control and many others.

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 Dates: 2008-07
 Publication Status: Published in print
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 Identifiers: BibTex Citekey: 5667
 Degree: -

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Title: 6th International Cognitive Robotics Workshop (CogRob 2008)
Place of Event: Patras, Greece
Start-/End Date: 2008-07-21 - 2008-07-22
Invited: Yes

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