Logo Leibniz Universität Hannover
Logo: Institute of Automatic Control
Logo Leibniz Universität Hannover
Logo: Institute of Automatic Control
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Machine Learning

  • Multi-agent reinforcement learning
  • Learning of optimal motions/trajectories
  • Generalization of optimal trajectories
  • Task learning and -adaption

Non-linear Control Theory and Machine Learning

The research at IRT connects modern non-linear and optimal control of complex dynamical systems with methods from machine learning. Central results and new approaches for the systematic combination of optimal control of complex non-linear systems and learning and generalization were developed based on extending state-of-the-art machine learning methods. The results were successfully validated in highly complex robotic applications, allowing to find and apply almost optimal solutions for highly non-linear problems in real-time.

Publications


Submitted

Kramberger, Aljaž; Shahriari, Erfan; Gams, Andrej; Nemec, Bojan; Ude, Aleš & Haddadin, Sami (2018): Passivity Based Iterative Learning of Coupled Motion Primitives for Interaction with the Environment, Submitted to 2018 IEEE International Conference on Robotics and Automation (ICRA)

Books

Höhn, O. (2008): Erkennung, Klassifikation und Vermeidung von Stürzen zweibeiniger Roboter, Norderstedt, Books On Demand. Dissertation, Leibniz Universität Hannover. more

BibTeX

Book Chapter

Haddadin, S., Weitschat, R., Huber, F., Özparpucu, M. C., Mansfeld, N., Albu-Schäffer, A. (2016): Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time, Inaba, M., Corke, P. (Eds.): Robotics Research: The 16th International Symposium ISRR, Springer International Publishing, 131-148
DOI: 10.1007/978-3-319-28872-7_8

Journals

Li, Y. and Ganesh, G.; Jarrasse, N.; Haddadin, S.; Albu-Schäffer, A. & Burdet, E. (2017): Force, Impedance and Trajectory Learning for Contact Tooling and Haptic Identification, Accepted for IEEE Transactions on Robotics

Höhn, O. & Gerth, W. (2009): Probabilistic Balance Monitoring for Bipedal Robots, The International Journal of Robotics Research, vol. 28, no. 2, Feb, pp. 245-256.
DOI: 10.1177/0278364908095170

BibTeX

Conference Papers

Hu, Tingli; and Kühn, Johannes; and Ma'touq, Jumana & Haddadin, Sami (2018): Learning and Identification of human upper-limb muscle synergies in daily-life tasks with autoencoders, OTWorld Congress, Leipzig, Germany, 15.-18. May, more

Diaz Ledezma, Fernando & Haddadin, Sami (2017): First-Order-Principles-Based Constructive Network Topologies: An Application to Robot Inverse Dynamics, IEEE RAS International Conference on Humanoid Robots, Birmingham, UK

Golz, S., Osendorfer, Ch. & Haddadin, S. (2015): Using tactile sensation for learning contact knowledge: Discrimination collision from physical interaction, Accepted at: 2015 IEEE International Conference on Robotics and Automation
DOI: 10.1109/ICRA.2015.7139726

BibTeX

Tomic, T., Maier, M. & Haddadin, S. (2014): Learning Quadrocopter Maneuvers From Optimal Control and Generalizing in Real-time, International Conference on Robotics and Automation (ICRA), 2014, Hong Kong, China, May 31 - June 7, pp. 1747-1754
DOI: 10.1109/ICRA.2014.6907087

BibTeX

Haddadin, S., Weitschat, R., Huber, F., Özparpucu, M. C., Mansfeld, N. & Alin, A.-S. (2013): Optimal Control for Viscoelastic Robots and its Generalization in Real-Time, International Symposium on Robotics Research (ISRR).

BibTeX

Weitschat, R., Haddadin, S., Huber, F. & Albu-Schäffer, A. (2013): Dynamic optimality in real-time: A learning framework for near-optimal robot motions, Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp. 5636-5643.
DOI: 10.1109/IROS.2013.6697173

BibTeX

Höhn, O. & Gerth, W. (2008): Wahrscheinlichkeitsbasierte Sturzklassifikation von zweibeinigen Robotern, 42. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 39-40. more

BibTeX

Höhn, O., Schollmeyer, M. & Gerth, W. (2004): Sturzvermeidung von zweibeinigen Robotern durch reflexartige Reaktionen, In Holleczek, P. & Vogel-Heuser, B. (Ed.): Eingebettete Systeme. PEARL 2004, Informatik aktuell, Berlin Heidelberg, Springer, pp. 60-69. more
DOI: 10.1007/978-3-642-18594-6_7

BibTeX