Michael Gienger, Mark Toussaint, Nikolai Jetchev, Achim Bendig, Christian Goerick,
"Optimization of fluent approach and grasp motions",
International Conference on Humanoid Robots, 2008.
Abstract
Generating a fluent motion of approaching, grasping and lifting an object comprises a number of problems which are typically tackled separately. Some existing research specializes on the optimization of the final grasp posture based on force closure criteria neglecting the motion necessary to approach this grasp. Other research specializes on motion optimization including collision avoidance criteria, but typically not considering the subsequent ...
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Bram Bolder, Holger Brandl, Martin Heracles, Herbert Janßen, Inna Mikhailova, Jens Schmüdderich, Christian Goerick,
"Expectation-driven Autonomous Learning and Interaction System",
IEEE-RAS International Conference on Humanoid Robots, 2008.
Abstract
We introduce our latest autonomous learning and interaction system instance ALIS 2. It comprises different sensing modalities for visual (depth blobs, planar surfaces, motion) and auditory (speech, localization) signals and self-collision free behavior generation on the robot ASIMO. The system design emphasizes the split into a completely autonomous reactive layer and an expectation generation layer. Different feature channels can be classied and...
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Christian Goerick,
"Towards Cognitive Robotics",
Creating Brain-like Intelligence, Springer Verlag, 2008.
Abstract
In this paper we review our research aiming at creating a cognitive humanoid. We describe our understanding of the core elements of a processing architecture for such kind of an artifact. After these conceptual considerations we present our research results on the form of the series of elements and systems that have been researched and created....
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Yaochu Jin, Aimin Zhou, Qingfu Zhang, Bernhard Sendhoff, Edward Tsang,
"Modeling Regularity to Improve Scalability of Model-Based Multiobjective Optimization Algorithms",
Multiobjective Problem Solving from Nature, Springer, pp. 331-355, 2008.
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Heiko Wersing, Stephan Kirstein, Bernd Schneiders, Ute Bauer-Wersing, Edgar Körner,
"Online Learning for Bootstrapping of Object Recognition and Localization in a Biologically Motivated Architecture",
Proceedings of the 6th International Conference on Computer Vision Systems, 2008.
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Andreas Knoblauch,
"Closed-form expressions for the moments of the binomial probability distribution.",
SIAM Journal on Applied Mathematics, vol. 69(1), pp. 197–204, 2008.
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Neale Samways, Yaochu Jin, Xin Yao, Bernhard Sendhoff,
"Toward a Gene Regulatory Network Model for Evolving Chemotaxis Behavior",
Congress on Evolutionary Computation, pp. pp.2574-2581, 2008.
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Holger Brandl, Frank Joublin, Christian Goerick,
"Towards unsupervised online word clustering",
Proc. International Conference on Acoustics, Speech, and Signal Processing (ICASSP), 2008.
Abstract
Understanding the bootstrapping process of speech representation in infants is one key issue towards systems which may provide human-like speech recognition abilities some day. Until now, almost all current speech recognition systems have failed to integrate learning into the recognition process. Here we propose a system for unsupervised word-clustering, which is able to recognize and learn the structure of speech online in a unified framework. T...
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Martin Heckmann, Claudius Gläser, Miguel Vaz, Tobias Rodemann, Frank Joublin, Christian Goerick,
"Listen to the Parrot: Demonstrating the Quality of Online Pitch and Formant Extraction Via Feature-Based Resynthesis",
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1699-1704, 2008.
Abstract
We present a system for online extraction of the fundamental frequency and the first four formant frequencies from a speech signal. To evaluate the performance of the extraction a resynthesis of the speech signal is performed. The resynthesis is based on the extracted frequencies and the energy of the input signal at the formant locations. The extraction of the fundamental frequency and the formants is robust against room echoes and interfering n...
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Volker Willert, Julian Eggert, Mark Toussaint, Edgar Körner,
"Probabilistic Exploitation of the Lucas and Kanade Smoothness Constraint",
Machine Learning and Applications, 2008.
Abstract
The basic idea of Lucas and Kanade is to constrain the local motion measurement by assuming a constant velocity within a spatial neighborhood. We reformulate this spatial constraint in a probabilistic way assuming Gaussian distributed uncertainty in spatial identification of velocity measurements and extend this idea to scale and time dimensions. Thus, we are able to combine uncertain velocity measurements observed at different image scales and p...
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