{"id":"https://openalex.org/W2116086091","doi":"https://doi.org/10.1109/tamd.2010.2062511","title":"Goal Babbling Permits Direct Learning of Inverse Kinematics","display_name":"Goal Babbling Permits Direct Learning of Inverse Kinematics","publication_year":2010,"publication_date":"2010-08-05","ids":{"openalex":"https://openalex.org/W2116086091","doi":"https://doi.org/10.1109/tamd.2010.2062511","mag":"2116086091"},"language":"en","primary_location":{"id":"doi:10.1109/tamd.2010.2062511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tamd.2010.2062511","pdf_url":null,"source":{"id":"https://openalex.org/S108448409","display_name":"IEEE Transactions on Autonomous Mental Development","issn_l":"1943-0604","issn":["1943-0604","1943-0612"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Autonomous Mental Development","raw_type":"journal-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/A5102882780","display_name":"Matthias Rolf","orcid":"https://orcid.org/0000-0003-0563-3264"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Matthias Rolf","raw_affiliation_strings":["Research Institute of Cognition and Robotics (CoR-Lab), Bielefeld University, Bielefeld, Germany","Res. Inst. for Cognition & Robot. - CoR-Lab., Bielefeld Univ., Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Research Institute of Cognition and Robotics (CoR-Lab), Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Res. Inst. for Cognition & Robot. - CoR-Lab., Bielefeld Univ., Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085055595","display_name":"Jochen J. Steil","orcid":"https://orcid.org/0000-0002-6738-9933"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jochen J. Steil","raw_affiliation_strings":["Research Institute of Cognition and Robotics (CoR-Lab), Bielefeld University, Bielefeld, Germany","Res. Inst. for Cognition & Robot. - CoR-Lab., Bielefeld Univ., Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Research Institute of Cognition and Robotics (CoR-Lab), Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Res. Inst. for Cognition & Robot. - CoR-Lab., Bielefeld Univ., Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025560073","display_name":"Michael Gienger","orcid":"https://orcid.org/0000-0001-8036-2519"},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]},{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["DE","JP"],"is_corresponding":false,"raw_author_name":"Michael Gienger","raw_affiliation_strings":["Honda Research Institute Europe GmbH, Offenbach, Germany","[Honda Res. Inst. Eur., Offenbach, Germany]"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe GmbH, Offenbach, Germany","institution_ids":["https://openalex.org/I4210112253"]},{"raw_affiliation_string":"[Honda Res. Inst. Eur., Offenbach, Germany]","institution_ids":["https://openalex.org/I1283473643"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102882780"],"corresponding_institution_ids":["https://openalex.org/I20121455"],"apc_list":null,"apc_paid":null,"fwci":16.0334,"has_fulltext":false,"cited_by_count":170,"citation_normalized_percentile":{"value":0.99017878,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"2","issue":"3","first_page":"216","last_page":"229"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9923999905586243,"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":0.9923999905586243,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9894000291824341,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.965399980545044,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7689332962036133},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7200130820274353},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6970138549804688},{"id":"https://openalex.org/keywords/babbling","display_name":"Babbling","score":0.6100435853004456},{"id":"https://openalex.org/keywords/bootstrapping","display_name":"Bootstrapping (finance)","score":0.5258859992027283},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5211036801338196},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5166254639625549},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.48149240016937256},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.45350009202957153},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42789649963378906},{"id":"https://openalex.org/keywords/inverse-problem","display_name":"Inverse problem","score":0.41740530729293823},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.39169177412986755},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3000657558441162},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21781158447265625},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19590038061141968}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7689332962036133},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7200130820274353},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6970138549804688},{"id":"https://openalex.org/C134589348","wikidata":"https://www.wikidata.org/wiki/Q1723890","display_name":"Babbling","level":2,"score":0.6100435853004456},{"id":"https://openalex.org/C207609745","wikidata":"https://www.wikidata.org/wiki/Q4944086","display_name":"Bootstrapping (finance)","level":2,"score":0.5258859992027283},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5211036801338196},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5166254639625549},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.48149240016937256},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.45350009202957153},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42789649963378906},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.41740530729293823},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39169177412986755},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3000657558441162},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21781158447265625},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19590038061141968},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tamd.2010.2062511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tamd.2010.2062511","pdf_url":null,"source":{"id":"https://openalex.org/S108448409","display_name":"IEEE Transactions on Autonomous Mental Development","issn_l":"1943-0604","issn":["1943-0604","1943-0612"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Autonomous Mental Development","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.205.7412","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.205.7412","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cor-lab.de/system/files/RolfSteilGienger-TAMD2010-GoalBabbling.pdf","raw_type":"text"},{"id":"pmh:oai:pub.librecat.org:2142015","is_oa":false,"landing_page_url":"https://pub.uni-bielefeld.de/record/2142015","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rolf M, Steil JJ, Gienger M. Goal Babbling permits direct learning of inverse kinematics. <em>IEEE Trans. Autonomous Mental Development</em>. 2010;2(3):216-229.","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1489707274","https://openalex.org/W1556106827","https://openalex.org/W1559736362","https://openalex.org/W1571179961","https://openalex.org/W2004733654","https://openalex.org/W2006228990","https://openalex.org/W2017255236","https://openalex.org/W2026593493","https://openalex.org/W2029388675","https://openalex.org/W2036244090","https://openalex.org/W2042239418","https://openalex.org/W2043968544","https://openalex.org/W2050534340","https://openalex.org/W2052519881","https://openalex.org/W2053381765","https://openalex.org/W2081651104","https://openalex.org/W2082288587","https://openalex.org/W2085539923","https://openalex.org/W2095064203","https://openalex.org/W2097861969","https://openalex.org/W2103104224","https://openalex.org/W2103617625","https://openalex.org/W2111656597","https://openalex.org/W2116534743","https://openalex.org/W2116626416","https://openalex.org/W2121527732","https://openalex.org/W2132558143","https://openalex.org/W2138671676","https://openalex.org/W2142235604","https://openalex.org/W2143956139","https://openalex.org/W2146671902","https://openalex.org/W2150012741","https://openalex.org/W2166141261","https://openalex.org/W2286699414","https://openalex.org/W2313876378","https://openalex.org/W2543071036","https://openalex.org/W4245246964","https://openalex.org/W4285719527","https://openalex.org/W6633521930"],"related_works":["https://openalex.org/W2166613956","https://openalex.org/W2744818472","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W2136233762","https://openalex.org/W3134555460","https://openalex.org/W2607470227","https://openalex.org/W2351331567","https://openalex.org/W2889305167"],"abstract_inverted_index":{"We":[0,79,101],"present":[1],"an":[2,19,66],"approach":[3],"to":[4,124],"learn":[5],"inverse":[6,26],"kinematics":[7,27],"of":[8,24,48,71,127],"redundant":[9],"systems":[10],"without":[11],"prior-":[12],"or":[13,118],"expert-knowledge.":[14],"The":[15,29,60],"method":[16,106],"allows":[17],"for":[18,108],"iterative":[20],"bootstrapping":[21,99],"and":[22,69,81,85],"refinement":[23],"the":[25,49,83,98,105,114],"estimate.":[28],"essential":[30],"novelty":[31],"lies":[32],"in":[33],"a":[34,54,58,89],"path-based":[35],"sampling":[36],"approach:":[37],"we":[38],"generate":[39],"training":[40],"data":[41],"along":[42,53],"paths,":[43],"which":[44],"result":[45],"from":[46,75],"execution":[47],"currently":[50],"learned":[51],"estimate":[52],"desired":[55],"path":[56],"towards":[57],"goal.":[59],"information":[61],"structure":[62],"thereby":[63],"induced":[64],"enables":[65],"efficient":[67],"detection":[68],"resolution":[70],"inconsistent":[72],"samples":[73],"solely":[74],"directly":[76],"observable":[77],"data.":[78],"derive":[80],"illustrate":[82],"exploration":[84],"learning":[86],"process":[87],"with":[88,122],"low-dimensional":[90],"kinematic":[91],"example":[92],"that":[93,104],"provides":[94],"direct":[95],"insight":[96],"into":[97],"process.":[100],"further":[102],"show":[103],"scales":[107],"high":[109],"dimensional":[110],"problems,":[111],"such":[112],"as":[113],"Honda":[115],"humanoid":[116],"robot":[117],"hyperredundant":[119],"planar":[120],"arms":[121],"up":[123],"50":[125],"degrees":[126],"freedom.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":20},{"year":2017,"cited_by_count":16},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":14},{"year":2014,"cited_by_count":16},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":8}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}