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Arne Hitzmann

2 accepted papers

2019

Learning Interactive Behaviors for Musculoskeletal Robots Using Bayesian Interaction Primitives

Joseph Campbell, Arne Hitzmann, Simon Stepputtis, Shuhei Ikemoto, Koh Hosoda, Heni Ben Amor
IROS 2019poster

Musculoskeletal robots that are based on pneumatic actuation have a variety of properties, such as compliance and back-drivability, that render them particularly appealing for human-robot collaboration. However, programming interactive and responsive behaviors for such systems is extremely challengi…

Cited by 21Source ↗Scholar ↗
2019

Local Online Motor Babbling: Learning Motor Abundance of a Musculoskeletal Robot Arm

Zinan Liu, Arne Hitzmann, Shuhei Ikemoto, Svenja Stark, Jan Peters, Koh Hosoda
IROS 2019poster

Motor babbling and goal babbling has been used for sensorimotor learning of highly redundant systems in soft robotics. Recent works in goal babbling have demonstrated successful learning of inverse kinematics (IK) on such systems, and suggest that babbling in the goal space better resolves motor red…

Cited by 3Source ↗Scholar ↗