Institute for
Robotics and Process Control

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seminar topic

Goal Babbling - direct learning of inverse kinematics

course: Bachelor/Master
For robots with many redundant degrees of freedom or soft robots with unknown kinematic function it is difficult to learn the inverse kinematics. Goal babbling refers to a scheme to nevertheless do this online, while behaving and actively generating new information to improve on the fly. It is motivated from infant motor learning and has successfully been applied to planar snake-like robots up to 50 DOFs as described in (External)(PDF) and applied to an soft elephant trunk robot in (External)(PDF).




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