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Gestalt Formation in a Competitive Layered Neural Architecture. Networks: From Biology to Theory. :163–191.. 2006.
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Goal Babbling permits direct learning of inverse kinematics. IEEE Trans. Autonomous Mental Development. 2:216–229.. 2010.
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Learning Flexible Full Body Kinematics for Humanoid Tool Use. Int. Symp. Learning and Adaptive Behavior in Robotic Systems (Best Paper Award). :171–176.. 2010.
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A Multi-Level Control Architecture for the Bionic Handling Assistant. Advanced Robotics. 29:847–859.. 2015.
Mastering Growth while Bootstrapping Sensorimotor Coordination. Int. Conf. on Epigenetic Robotics.. 2010.
Online Goal Babbling for rapid bootstrapping of inverse models in high dimensions. IEEE Int. Conf. Development and Learning and on Epigenetic Robotics (best student paper award). 2:1–8.. 2011.
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Explorative learning of right inverse functions: theoretical implications of redundancy. Neurocomputing. 131:2-14.. 2013.
Platform Portable Anthropomorphic Grasping with the Bielefeld 20-DOF Shadow and 9-DOF TUM Hand. Proc. Int. Conf. on Intelligent Robots and Systems (IROS). :2951–2956.. 2007.