Wiki¶

Instructions¶

• The library contains matlab (at least R2012a recommended) scripts.
• You can download the code from this SVN repository
• Please first use include_paths.m to include all the path in this directory you need.
• Start by using either gb_BHA_example or gb_MDOFArm_example to get familiar with the library of GOAL BABBLING.

Resources¶

• The library implements Goal Babbling based on the paper Online Goal Babbling for rapid bootstrapping of inverse models in high dimensions
• The simulation of Festo's Bionic Handling Assistent is based on this paper
  • See also: http://www.youtube.com/watch?v=kk3w2VchgWA
• A video showing the use of goal babbling on the actual BHA robot is available here: http://www.youtube.com/watch?v=aGFiMviI0VY
  • The corresponding paper is soon available here