Publications


Peer-reviewed journal articles | Peer-reviewed conference articles | Peer-reviewed extended abstracts | Abstracts | Invited articles | Books | Patents

Cited by - see Google Scholar

Peer-reviewed journal articles

Suppressing cascades in a self-organized-critical model with non-contiguous spread of failures
Heiko Hoffmann and David W Payton
Chaos, Solitons & Fractals, Vol. 67, pp. 87-93, 2014
Available online at ScienceDirect
[pdf, 644KB]

Adaptive robotic tool use under variable grasps
Heiko Hoffmann, Zhichao Chen, Darren Earl, Derek Mitchell, Behnam Salemi, and Jivko Sinapov
Robotics and Autonomous Systems, Vol. 62, Issue 6, pp. 833-846, 2014
Available online at ScienceDirect
[pdf, 2.4MB]

Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors
Auke Jan Ijspeert, Jun Nakanishi, Heiko Hoffmann, Peter Pastor, and Stefan Schaal
Neural Computation, Vol. 25, No. 2, pp. 328-373, 2013
Cited by 350+ (230+ on Scopus)

Target switching in curved human arm movements is predicted by changing a single control parameter
Heiko Hoffmann
Experimental Brain Research, Vol. 208, Issue 1, pp. 73-87, 2011
Available online at springerlink.com
[pdf, 636KB]

Grasping to Extrafoveal Targets: A Robotic Model
Wolfram Schenck, Heiko Hoffmann, and Ralf Möller
New Ideas in Psychology, Vol. 29, pp. 235-259, 2011
Available online at ScienceDirect
[pdf, 984KB]

Computational models for neuromuscular function
Francisco Valero-Cuevas, Heiko Hoffmann, Manish Kurse, Jason Kutch, and Evangelos Theodorou (all authors contributed equally)
IEEE Reviews in Biomedical Engineering, Vol. 2, pp. 110-135, 2009
[pdf, 1.6M]

Local dimensionality reduction for non-parametric regression
Heiko Hoffmann, Stefan Schaal, and Sethu Vijayakumar
Neural Processing Letters, Vol. 29, pp. 109-131, 2009
The original article is available online at Springerlink.com
[pdf, 556KB]

Perception through Visuomotor Anticipation in a Mobile Robot
Heiko Hoffmann
Neural Networks, Vol. 20, pp. 22-33, 2007
Available online at ScienceDirect
[pdf, 1564KB]

Kernel PCA for Novelty Detection
Heiko Hoffmann
Pattern Recognition, Vol. 40, pp. 863-874, 2007
Available online at ScienceDirect
[pdf, 748KB]
Cited by 300+ (220+ on Scopus)

Learning visuomotor transformations for gaze-control and grasping
Heiko Hoffmann, Wolfram Schenck, Ralf Möller
Biological Cybernetics, Vol. 93, pp. 119-130, 2005
Available online at springerlink.com
[pdf, 620KB]

Studies of crack dynamics in clay soil. I. Experimental methods, results and morphological quantification
Hans-Jörg Vogel, Heiko Hoffmann, Kurt Roth
Geoderma, Vol. 125, pp. 203-211, 2005
[pdf, 576KB]

Studies of crack dynamics in clay soil. II. A physically based model for crack formation
Hans-Jörg Vogel, Heiko Hoffmann, Andreas Leopold, Kurt Roth
Geoderma, Vol. 125, pp. 213-223, 2005
[pdf, 596KB]

An extension of Neural Gas to local PCA
Ralf Möller, Heiko Hoffmann
Neurocomputing, Vol. 62, pp. 305-326, 2004
[pdf, 1194KB]

Cross-correlation studies with seismic noise
Heiko Hoffmann, John Winterflood, Yong-Jing Cheng, David G. Blair
Classical and Quantum Gravity, Vol. 19, pp. 1709-1716, 2002
[pdf, 152KB]

Peer-reviewed journal articles | Peer-reviewed conference articles | Peer-reviewed extended abstracts | Abstracts | Invited articles | Books | Patents

Peer-reviewed conference articles

Fast Re-learning of a Controller from Sparse Data
Charles E Martin and Heiko Hoffmann
IEEE International Conference on Systems, Man, and Cybernetics, 2014
[pdf, 308K]

Fast pattern matching with time-delay neural networks
Heiko Hoffmann, Michael Howard, and Michael Daily
International Joint Conference on Neural Networks, 2011
[pdf, 1.3M]
The technique described in this article is covered by United States Patent 8818923 assigned to HRL Laboratories, LLC

Toward Ultra High Speed Locomotors: Design and Test of a Cheetah Robot Hindlimb
M. Anthony Lewis, Matthew R Bunting, Behnam Salemi, and Heiko Hoffmann
IEEE International Conference on Robotics and Automation, 2011
[pdf, 1.5M]

Biologically-inspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance
Heiko Hoffmann, Peter Pastor, Dae-Hyung Park, and Stefan Schaal
IEEE International Conference on Robotics and Automation, 2009
[pdf, 692K]

Learning and Generalization of Motor Skills by Learning from Demonstration
Peter Pastor, Heiko Hoffmann, Tamim Asfour, and Stefan Schaal
IEEE International Conference on Robotics and Automation, 2009
[pdf, 1548K]

Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields
Dae-Hyung Park, Heiko Hoffmann, Peter Pastor, and Stefan Schaal
IEEE International Conference on Humanoid Robots, 2008
[pdf, 672K]

Sensor-assisted adaptive motor control under continuously varying context
Heiko Hoffmann, Georgios Petkos, Sebastian Bitzer, and Sethu Vijayakumar
Proc. International Conference on Informatics in Control, Automation, and Robotics
presented at ICINCO, 2007
[pdf, 1096KB]

Action Selection and Mental Transformation Based on a Chain of Forward Models
Heiko Hoffmann, Ralf Möller
S. Schaal, A. Ijspeert, A. Billard, S. Vijayakumar, J. Hallam, and J.-A. Meyer (Eds.)
Proceedings of the 8th Conference on Simulation of Adaptive Behavior (SAB '04), pp. 213-222, MIT Press, 2004
[pdf, 612KB]

Learning internal models for eye-hand coordination in reaching and grasping
Wolfram Schenck, Heiko Hoffmann, Ralf Möller
F. Schmalhofer, R. M. Young, G. Katz (Eds.)
Proc. EuroCogSci, pp. 289-294, Lawrence Erlbaum Associates: Mahwah, New Jersey, 2003
[pdf, 872KB]

Unsupervised Learning of a Kinematic Arm Model
Heiko Hoffmann, Ralf Möller
O. Kaynak, E. Alpaydin, E. Oja, L. Xu (Eds.)
Artificial Neural Networks and Neural Information Processing - ICANN/ICONIP 2003
LNCS 2714, pp. 463-470, Springer, Heidelberg
[pdf, 158KB]

Peer-reviewed journal articles | Peer-reviewed conference articles | Peer-reviewed extended abstracts | Abstracts | Invited articles | Books | Patents

Peer-reviewed extended abstracts

Interactive Audio-Tactile Annotation of 3D Point Clouds for Robotic Manipulation
Jivko Sinapov, Darren Earl, Derek Mitchell, and Heiko Hoffmann
ICRA Mobile Manipulation Workshop on Interactive Perception, 2013
[pdf, 370KB]
Simple finger movements require complex coordination of excursions and forces across all muscles
Jason Kutch, Manish Kurse, Heiko Hoffmann, Evangelos Theodorou, Rod Hentz, Caroline Leclercq, Isabella Fassola, and Francisco Valero-Cuevas
Annual Meeting for the American Society of Biomechanics, State College, Pennsylvania, August 26-29, 2009
Optimization strategies in human reinforcement learning
Heiko Hoffmann, Evangelos Theodorou, and Stefan Schaal
Advances in Computational Motor Control VII, Symposium at the Society for Neuroscience Meeting, Washington DC, 2008
[pdf, 104KB]
Dynamic movement primitives for movement generation motivated by convergent force fields in frog
Heiko Hoffmann, Peter Pastor, and Stefan Schaal
Adaptive Motion of Animals and Machines (AMAM), Cleveland, Ohio, 2008
[pdf, 212KB]
Movement generation by learning from demonstration and generalization to new targets
Peter Pastor, Heiko Hoffmann, and Stefan Schaal
Adaptive Motion of Animals and Machines (AMAM), Cleveland, Ohio, 2008
[pdf, 204KB]
Combining dynamic movement primitives and potential fields for online obstacle avoidance
Dae-Hyung Park, Heiko Hoffmann, and Stefan Schaal
Adaptive Motion of Animals and Machines (AMAM), Cleveland, Ohio, 2008
[pdf, 240KB]
Human movement generation based on convergent flow fields: A computational model and a behavioral experiment
Heiko Hoffmann and Stefan Schaal
Advances in Computational Motor Control VI, Symposium at the Society for Neuroscience Meeting, San Diego, 2007
[pdf, 104KB]

Peer-reviewed journal articles | Peer-reviewed conference articles | Peer-reviewed extended abstracts | Abstracts | Invited articles | Books | Patents

Abstracts

Are reaching movements planned in kinematic or dynamic coordinates?
Alice Ellmer, Heiko Hoffmann, and Stefan Schaal
Neural Control of Movement, Naples, Florida, 2010
[html] [poster]
Error-feedback control through a forward model predicts preferential control of task-relevant parameters as observed in human finger muscle activation
Heiko Hoffmann, Evangelos Theodorou, and Francisco Valero-Cuevas
Society for Neuroscience, Chicago, Il, 2009
Muscle synergies may be artifacts of biomechanics rather than neural constraints, and are not necessary to simplify control
Jason Kutch, Manish Kurse, Heiko Hoffmann, Art Kuo, and Francisco Valero-Cuevas
Society for Neuroscience, Chicago, Il, 2009
Control of muscle strain energy as a robust means to produce slow and accurate finger movements: Proof of concept via hardware and cadaver implementation
Heiko Hoffmann, Jason Kutch, Manish Kurse, and Francisco Valero-Cuevas
Neural Control of Movement, Waikoloa, Hawaii, 2009
[html] [poster]
Journal publication in preparation. Suggestions welcome.
Human optimization strategies under reward feedback
Heiko Hoffmann, Evangelos Theodorou, and Stefan Schaal
Neural Control of Movement, Waikoloa, Hawaii, 2009
[html] [poster]
Journal publication in preparation. Suggestions welcome.
Do humans plan continuous trajectories in kinematic coordinates?
Heiko Hoffmann and Stefan Schaal
Society for Neuroscience, Washington, D.C., 2008
[html] [poster]
Journal publication in preparation. Suggestions welcome.
Behavioral experiments on reinforcement learning in human motor control
Heiko Hoffmann, Evangelos Theodorou, and Stefan Schaal
Neural Control of Movement, Naples, Florida, 2008
[html]
The dual role of uncertainty in force field learning
Michael Mistry, Evangelos Theodorou, Heiko Hoffmann, and Stefan Schaal
Neural Control of Movement, Naples, Florida, 2008
[html]
A computational model of human trajectory planning based on convergent flow fields
Heiko Hoffmann and Stefan Schaal
Society for Neuroscience, San Diego, California, 2007
[html]
A computational model of arm trajectory modification using dynamic movement primitives
Peyman Mohajerian, Heiko Hoffmann, Michael Mistry, and Stefan Schaal
Society for Neuroscience, San Diego, California, 2007
Uncertain 3D force fields in reaching movements: Do humans favor robust or average performance?
Michael Mistry, Evangelos Theodorou, Heiko Hoffmann, and Stefan Schaal
Society for Neuroscience, San Diego, California, 2007

Peer-reviewed journal articles | Peer-reviewed conference articles | Peer-reviewed extended abstracts | Abstracts | Invited articles | Books | Patents

Invited articles

Classification and segmentation of orbital space-based objects against terrestrial distractors for the purpose of finding holes in Shape from Motion 3D reconstruction
T. Nathan Mundhenk, Arturo Flores, and Heiko Hoffmann
SPIE Electronic Imaging, 2014
[pdf, 8.9M]
Biologically-inspired image processing for machine grasping
Heiko Hoffmann
The Neuromorphic Engineer, Vol. 2, Issue 2, 2005, p. 7
[html]

Peer-reviewed journal articles | Peer-reviewed conference articles | Peer-reviewed extended abstracts | Abstracts | Invited articles | Books | Patents

Books

Unsupervised Learning of Visuomotor Associations
Heiko Hoffmann
MPI Series in Biological Cybernetics, Vol. 11, 2005, Logos Verlag Berlin
ISBN 3-8325-0858-9
PhD thesis, Faculty of Technology, Bielefeld University
[pdf, 7800KB] [html]

Peer-reviewed journal articles | Peer-reviewed conference articles | Peer-reviewed extended abstracts | Abstracts | Invited articles | Books | Patents

Patents (granted)

Method for calibrating an articulated end effector employing a remote digital camera
Ryan M. Uhlenbrock and Heiko Hoffmann
US patent 9616569, Apr 11, 2017
Robotic control device and method for manipulating a hand-held tool
Heiko Hoffmann and Behnam Salemi
US patent 9613180, Apr 4, 2017
A self-stabilizing system for multiple interacting controllers
Heiko Hoffmann and David W Payton
US patent 9557722, Jan 31, 2017
Method for classification and segmentation and forming 3D models from images
Terrell N. Mundhenk, Arturo Flores, and Heiko Hoffmann
US patent 9530218, Dec 27, 2016
System and method for quick scripting of tasks for autonomous robotic manipulation
Darren Earl, Derek Mitchell, and Heiko Hoffmann
US patent 9486918, Nov 8, 2016
Dynamic obstacle avoidance in a robotic system
Derek Mitchell and Heiko Hoffmann
US patent 9403275, Aug 2, 2016
Dynamical system-based robot velocity control
Heiko Hoffmann, David W. Payton, and Derek Mitchell
US patent 9381643, Jul 5, 2016
A system for controlling motion and constraint forces in a robotic system without the need for force sensing
Vincent DeSapio and Heiko Hoffmann
US patent 9364951, Jun 14, 2016
System and method for deep packet inspection and intrusion detection
Heiko Hoffmann, Michael J Daily, Gavin D Holland, Karim El Defrawy
US patent 9336239, May 10, 2016
Neural network device with engineered delays for pattern storage and matching
Heiko Hoffmann
US patent 9311595, Apr 12, 2016
Device and method to localize and control a tool tip with a robot arm
Zhichao Chen and Heiko Hoffmann
US patent 9259840, Feb 16, 2016
System and Method for Fast Template Matching in 3D
Heiko Hoffmann, Hooman Kazemi, and Michael J Daily
US patent 9171247, Oct 27, 2015
Device and method to identify functional parts of tools for robotic manipulation
Jivko Sinapov and Heiko Hoffmann
US patent 9144905, Sep 29, 2015
Secure Pattern Matching
Karim El Defrawy, Kirill Minkovich, Joshua W. Baron, Eric P. Tressler, and Heiko Hoffmann
US patent 9009089, Apr 14, 2015
Robotic visual perception system
Suhas E Chelian, Rashmi N Sundareswara, and Heiko Hoffmann
US patent 9002098, Apr 7, 2015
Neural network device with engineered delays for pattern storage and matching
Heiko Hoffmann
US patent 8818923, Aug 26, 2014

Patents (pending)

Self-organized-critical image segmentation
Heiko Hoffmann and David W. Payton
US patent pending, filed 2017
Method and system for identifying wire contact insertion holes of a connector
Heiko Hoffmann
US patent pending, filed 2016
Device and method to decode volitional motor commands using a biomechanical model for controlling a prosthetic limb
Vincent DeSapio and Heiko Hoffmann
US patent pending, filed 2016
Device and method to automatically tune the nerve stimulation pattern of a sensory feedback capable prosthesis
Heiko Hoffmann, Jaehoon Choe, and Corey Thibeault
US patent pending, filed 2016
Robust recognition on degraded imagery by exploiting known image transformation under motion
Heiko Hoffmann and Ken Kim
US patent pending, filed 2016
Method for classifying agents based on their movement patterns
Terrell N. Mundhenk and Heiko Hoffmann
US patent pending, filed 2016
Robot supervisory control with an augmented reality user interface
Heiko Hoffmann and Michael J. Daily
US patent pending, filed 2016
Device and method to detect attacks on mobile ad hoc networks based on network flux
Heiko Hoffmann and Gavin D. Holland
US patent pending, filed 2016
Neural network device with engineered delays for pattern storage and matching (divisional)
Heiko Hoffmann
US patent pending, filed 2016
System and method for assistive gait intervention and fall prevention
Vincent DeSapio, Michael D. Howard, Matthew E. Phillips, Kevin R. Martin, Heiko Hoffmann, and David W. Payton
US patent pending, filed 2016
Method for fast controller adaptation from sparse data
Charles E. Martin and Heiko Hoffmann
US patent pending, filed 2015
Device and method for merging 3D point clouds from sparsely distributed viewpoints
Darren J. Earl, Ryan M. Uhlenbrock, and Heiko Hoffmann
US patent pending, filed 2015
Adaptive control system capable of recovering from unexpected situations
Heiko Hoffmann and David W. Payton
US patent pending, filed 2015
Self-organized-critical pattern generation to solve high-dimensional optimization problems
Heiko Hoffmann and David W. Payton
US patent pending, filed 2015
Method to suppress cascading failures in a transmission network
Heiko Hoffmann and David W. Payton
US patent pending, filed 2015
Method for tele-robotic operations over time-delayed communication links
Heiko Hoffmann, David W Payton, and Vincent DeSapio
US patent pending, filed 2013