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Learning to reach with Festo's Bionic Handling Assistant

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Published on May 22, 2012

This video shows autonomous learning of inverse kinematics on the Bionic Handling Assistant (BHA). We use a method called 'Goal Babbling', which is inspired by the way infants perform sensorimotor exploration to bootstrap their motor-repertoire.
The method allows for an efficient learning of reaching skills even in very high-dimensional and redundant domains. Autonomous learning can be assisted by kinesthetic guidance, i.e. a human pushing the robot in the right direction.
An article describing Goal Babbling is available here: http://www.cor-lab.de/system/files/Ro...

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