3 papers
cs.RO2019
Phase Portraits as Movement Primitives for Fast Humanoid Robot Control
Guilherme Maeda, Okan Koc, Jun Morimoto
Currently, usual approaches for fast robot control are largely reliant on solving online optimal control problems. Such methods are known to be computationally intensive and sensit…
cs.RO2018
Learning to serve: an experimental study for a new learning from demonstrations framework
Okan Koc, Jan Peters
Learning from demonstrations is an easy and intuitive way to show examples of successful behavior to a robot. However, the fact that humans optimize or take advantage of their body…
cs.RO2018
Optimizing Execution of Dynamic Goal-Directed Robot Movements with Learning Control
Okan Koc, Guilherme Maeda, Jan Peters
Highly dynamic tasks that require large accelerations and precise tracking usually rely on accurate models and/or high gain feedback. While kinematic optimization allows for effici…