Development of a Whole-body Work Imitation Learning System by a Biped and Bi-armed Humanoid

• Published in: arXiv.org
• Main Authors: Matsuura, Yutaro, Kawaharazuka, Kento, Hiraoka, Naoki, Kojima, Kunio, Okada, Kei, Inaba, Masayuki
• Format: Paper Journal Article
• Language: English
• Published: Ithaca Cornell University Library, arXiv.org 27.09.2023
• Subjects: Computer Science - Robotics; Contact force; Control equipment; Control systems; Data collection; Head movement; Humanoid; Learning; Optimization; Robot control; Robots

Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle of view do not change, has been realized in many cases. On the other hand, imitation of the behavior of robots with float...