Wiki » History » Version 3

M. Rolf, 11/15/2013 07:00 AM

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h1. Wiki
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h2. Instructions
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* The library contains *matlab* (at least R2012a recommended) scripts.
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* You can download the code from "this SVN repository":https://code.cor-lab.org/svn/goal-babbling-matlab
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* Please first use include_paths.m to include all the path in this directory you need.
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* Start by using either gb_BHA_example or gb_MDOFArm_example to get familiar with the library of GOAL BABBLING.
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h3. Resources
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* The library implements Goal Babbling based on the paper "Online Goal Babbling for rapid bootstrapping of inverse models in high dimensions":http://cor-lab.org/bib/%5Btitle-raw%5D-0
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* The simulation of Festo's Bionic Handling Assistent is based on "this paper":http://cor-lab.org/bib/constant-curvature-continuum-kinematics-fast-approximate-model-bionic-handling-assistant
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** See also: http://www.youtube.com/watch?v=kk3w2VchgWA
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* A video showing the use of goal babbling on the actual BHA robot is available here: http://www.youtube.com/watch?v=aGFiMviI0VY
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** The corresponding paper is soon available "here":http://cor-lab.org/bib/efficient-exploratory-learning-inverse-kinematics-bionic-elephant-trunk