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For more complex skills, methods that are tailored for the domain of skill learning are needed. In this paper, we take the task of learning table tennis as an example and present a new framework that allows a robot to learn cooperative table tennis from physical interaction with a human. The robot first learns a set of elementary table tennis hitting movements from a human table tennis teacher by kinesthetic teach-in, which is compiled into a set of motor primitives represented by dynamical systems. The robot subsequently generalizes these movements to a wider range of situations using our mixture of motor primitives approach. The resulting policy enables the robot to select appropriate motor primitives as well as to generalize between them. Finally, the robot plays with a human table tennis partner and learns online to improve its behavior. We show that the resulting setup is capable of playing table tennis using an anthropomorphic robot arm.<\/jats:p>","DOI":"10.1177\/0278364912472380","type":"journal-article","created":{"date-parts":[[2013,1,30]],"date-time":"2013-01-30T20:17:17Z","timestamp":1359577037000},"page":"263-279","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":285,"title":["Learning to select and generalize striking movements in robot table tennis"],"prefix":"10.1177","volume":"32","author":[{"given":"Katharina","family":"M\u00fclling","sequence":"first","affiliation":[{"name":"Max Planck Institute for Intelligent Systems, Department of Empirical Inference, T\u00fcbingen, Germany"},{"name":"Technische Universit\u00e4t Darmstadt, FG Intelligente Autonome Systeme, Darmstadt, Germany"}]},{"given":"Jens","family":"Kober","sequence":"additional","affiliation":[{"name":"Max Planck Institute for Intelligent Systems, Department of Empirical Inference, T\u00fcbingen, Germany"},{"name":"Technische Universit\u00e4t Darmstadt, FG Intelligente Autonome Systeme, Darmstadt, Germany"}]},{"given":"Oliver","family":"Kroemer","sequence":"additional","affiliation":[{"name":"Technische Universit\u00e4t Darmstadt, FG Intelligente Autonome Systeme, Darmstadt, Germany"}]},{"given":"Jan","family":"Peters","sequence":"additional","affiliation":[{"name":"Max Planck Institute for Intelligent Systems, Department of Empirical Inference, T\u00fcbingen, Germany"},{"name":"Technische Universit\u00e4t Darmstadt, FG Intelligente Autonome Systeme, Darmstadt, Germany"}]}],"member":"179","published-online":{"date-parts":[[2013,1,30]]},"reference":[{"key":"bibr1-0278364912472380","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2003.1256297"},{"key":"bibr2-0278364912472380","volume-title":"A Robot Ping-pong Player: Experiment in Real-time Intelligent Control","author":"Andersson R","year":"1988"},{"key":"bibr3-0278364912472380","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.10.024"},{"key":"bibr4-0278364912472380","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_60"},{"key":"bibr5-0278364912472380","volume-title":"Pattern Recognition and Machine Learning","author":"Bishop C","year":"2006"},{"key":"bibr6-0278364912472380","unstructured":"Bishop C, Tipping M (2003) Bayesian Regression and Classification, volume 190. 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