Trajectory learning from human demonstrations via manifold mapping

• Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 3935 - 3940
• Main Authors: Hiratsuka, Michihisa, Makondo, Ndivhuwo, Rosman, Benjamin, Hasegawa, Osamu
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2016
• Subjects: Kinematics; Manifolds; Manipulators; Mathematical model; Robot sensing systems; Trajectory

This work proposes a framework that enables arbitrary robots with unknown kinematics models to imitate human demonstrations to acquire a skill, and reproduce it in real-time. The diversity of robots active in non-laboratory environments is growing constantly, and to this end we present an approach f...