{"id":"https://openalex.org/W3004102513","doi":"https://doi.org/10.1109/iros40897.2019.8967791","title":"Local Online Motor Babbling: Learning Motor Abundance of a Musculoskeletal Robot Arm","display_name":"Local Online Motor Babbling: Learning Motor Abundance of a Musculoskeletal Robot Arm","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004102513","doi":"https://doi.org/10.1109/iros40897.2019.8967791","mag":"3004102513"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967791","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967791","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056678476","display_name":"Zinan Liu","orcid":"https://orcid.org/0000-0001-6874-6050"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Zinan Liu","raw_affiliation_strings":["Department of Computer Science, TU Darmstadt, Hochschulstr, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, TU Darmstadt, Hochschulstr, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031647896","display_name":"Arne Hitzmann","orcid":"https://orcid.org/0000-0002-7125-9760"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Arne Hitzmann","raw_affiliation_strings":["School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091642144","display_name":"Shuhei Ikemoto","orcid":"https://orcid.org/0000-0003-4885-8746"},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuhei Ikemoto","raw_affiliation_strings":["Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology 2-4 Hibikino, Wakamatsu-ku, Kitakyushu, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology 2-4 Hibikino, Wakamatsu-ku, Kitakyushu, Japan","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010822957","display_name":"Svenja Stark","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Svenja Stark","raw_affiliation_strings":["Department of Computer Science, TU Darmstadt, Hochschulstr, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, TU Darmstadt, Hochschulstr, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Department of Computer Science, TU Darmstadt, Hochschulstr, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, TU Darmstadt, Hochschulstr, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072232488","display_name":"Koh Hosoda","orcid":"https://orcid.org/0000-0001-8392-1021"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koh Hosoda","raw_affiliation_strings":["School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5056678476"],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":0.1663,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.52506144,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"25","issue":null,"first_page":"6594","last_page":"6601"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9794999957084656,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9754999876022339,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/babbling","display_name":"Babbling","score":0.9712622761726379},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6676849126815796},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47781017422676086},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4573187232017517},{"id":"https://openalex.org/keywords/motor-learning","display_name":"Motor learning","score":0.45640456676483154},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4514455497264862},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4497138261795044},{"id":"https://openalex.org/keywords/cma-es","display_name":"CMA-ES","score":0.42418184876441956},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.41625547409057617},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.20771872997283936},{"id":"https://openalex.org/keywords/evolution-strategy","display_name":"Evolution strategy","score":0.17916813492774963}],"concepts":[{"id":"https://openalex.org/C134589348","wikidata":"https://www.wikidata.org/wiki/Q1723890","display_name":"Babbling","level":2,"score":0.9712622761726379},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6676849126815796},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47781017422676086},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4573187232017517},{"id":"https://openalex.org/C107690735","wikidata":"https://www.wikidata.org/wiki/Q852461","display_name":"Motor learning","level":2,"score":0.45640456676483154},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4514455497264862},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4497138261795044},{"id":"https://openalex.org/C205555498","wikidata":"https://www.wikidata.org/wiki/Q505588","display_name":"CMA-ES","level":4,"score":0.42418184876441956},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.41625547409057617},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.20771872997283936},{"id":"https://openalex.org/C207002847","wikidata":"https://www.wikidata.org/wiki/Q2912857","display_name":"Evolution strategy","level":3,"score":0.17916813492774963},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8967791","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967791","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1495118766","https://openalex.org/W1559736362","https://openalex.org/W1579240551","https://openalex.org/W1601795611","https://openalex.org/W1663973292","https://openalex.org/W1990517717","https://openalex.org/W1997543377","https://openalex.org/W2004303440","https://openalex.org/W2023468032","https://openalex.org/W2024068956","https://openalex.org/W2036412313","https://openalex.org/W2052210110","https://openalex.org/W2081651104","https://openalex.org/W2129945286","https://openalex.org/W2132558143","https://openalex.org/W2140801763","https://openalex.org/W2166613956","https://openalex.org/W2336687883","https://openalex.org/W2430735674","https://openalex.org/W2559510038","https://openalex.org/W2869878434","https://openalex.org/W4324106947","https://openalex.org/W6634778147","https://openalex.org/W6680971464","https://openalex.org/W6702989015","https://openalex.org/W6912248530"],"related_works":["https://openalex.org/W3195786880","https://openalex.org/W2788027299","https://openalex.org/W1987305570","https://openalex.org/W2131411927","https://openalex.org/W79759078","https://openalex.org/W4206935949","https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W4389401105","https://openalex.org/W815979431"],"abstract_inverted_index":{"Motor":[0],"babbling":[1,4,22,37,114,128,182],"and":[2,34,92,151,168,200,209],"goal":[3,21,40,90,105,127,193],"has":[5],"been":[6],"used":[7],"for":[8,57,130,140],"sensorimotor":[9,52],"learning":[10,26,47],"of":[11,27,96,149,156,162,206],"highly":[12],"redundant":[13],"systems":[14],"in":[15,20,38,159,204],"soft":[16],"robotics.":[17],"Recent":[18],"works":[19],"have":[23],"demonstrated":[24],"successful":[25],"inverse":[28],"kinematics":[29],"(IK)":[30],"on":[31,125,195],"such":[32,132],"systems,":[33,60],"suggest":[35],"that":[36,133,178],"the":[39,73,88,94,126,147,152,172],"space":[41],"better":[42],"resolves":[43],"motor":[44,61,75,113,134,157,169,181,189],"redundancy":[45,62],"by":[46,116,184],"as":[48,54],"few":[49],"yet":[50],"efficient":[51,153],"mappings":[53],"possible.":[55],"However,":[56],"musculoskeletal":[58,100,197],"robot":[59,101,198],"can":[63,136,186],"provide":[64],"useful":[65,202],"information":[66],"to":[67,85],"explain":[68],"muscle":[69,207],"activation":[70],"patterns,":[71],"thus":[72],"term":[74],"abundance.":[76],"In":[77],"this":[78],"work,":[79],"we":[80],"introduce":[81],"some":[82],"simple":[83],"heuristics":[84],"empirically":[86],"define":[87],"unknown":[89],"space,":[91],"learn":[93],"IK":[95],"a":[97,196],"10":[98],"DoF":[99],"arm":[102],"using":[103],"directed":[104],"babbling.":[106],"We":[107],"then":[108],"further":[109],"propose":[110],"local":[111,179],"online":[112,139,180],"guided":[115,154,183],"Covariance":[117],"Matrix":[118],"Adaptation":[119],"Evolution":[120],"Strategy":[121],"(CMA-ES),":[122],"which":[123],"bootstraps":[124],"samples":[129],"initialization,":[131],"abundance":[135,158,190],"be":[137],"queried":[138,173,192],"any":[141],"static":[142],"goal.":[143,174],"Our":[144],"approach":[145],"leverages":[146],"resolving":[148],"redundancies":[150],"exploration":[155],"two":[160],"stages":[161],"learning,":[163],"allowing":[164],"both":[165],"kinematic":[166],"accuracy":[167],"variability":[170],"at":[171,191],"The":[175],"result":[176],"shows":[177],"CMA-ES":[185],"efficiently":[187],"explore":[188],"positions":[194],"system":[199],"gives":[201],"insights":[203],"terms":[205],"stiffness":[208],"synergy.":[210]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}