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Learning and Generalizing Variable Impedance Manipulation Skills from Human Demonstrations
[article]
2021
arXiv
pre-print
By learning Variable Impedance Control policy, robot assistants can intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this paper, we propose a DMP-based framework that learns and generalizes variable impedance manipulation skills from human demonstrations. This framework improves robots' adaptability to environment changes(i.e. the weight and shape changes of grasping object at
arXiv:2104.01324v3
fatcat:ucczvc7ftzejxlpiih2hf4zxyi