Learning motion and impedance behaviors from human demonstrations

• Published in: 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) pp. 368 - 373
• Main Authors: Saveriano, Matteo, Dongheui Lee
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.11.2014
• Subjects: Computational modeling; Covariance matrices; Eigenvalues and eigenfunctions; Force; Impedance; Learning from Demonstrations; Robots; state-dependent behavior; Trajectory; variable impedance control

Human-robot skill transfer has been deeply investigated from a kinematic point of view, generating various approaches to increase the robot knowledge in a simple and compact way. Nevertheless, social robotics applications require a close and active interaction with humans in a safe and natural manne...