A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit <a rel="external noopener" href="https://arxiv.org/pdf/2204.04003v1.pdf">the original URL</a>. The file type is <code>application/pdf</code>.
<span class="release-stage" >pre-print</span>
This article proposes a method for learning and robotic replication of dynamic collaborative tasks from offline videos. The objective is to extend the concept of learning from demonstration (LfD) to dynamic scenarios, benefiting from widely available or easily producible offline videos. To achieve this goal, we decode important dynamic information, such as the Configuration Dependent Stiffness (CDS), which reveals the contribution of arm pose to the arm endpoint stiffness, from a<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2204.04003v1">arXiv:2204.04003v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/2fdlyus6zfgvtftuf3kouoowfy">fatcat:2fdlyus6zfgvtftuf3kouoowfy</a> </span>
more »... al human skeleton model. Next, through encoding of the CDS via Gaussian Mixture Model (GMM) and decoding via Gaussian Mixture Regression (GMR), the robot's Cartesian impedance profile is estimated and replicated. We demonstrate the proposed method in a collaborative sawing task with leader-follower structure, considering environmental constraints and dynamic uncertainties. The experimental setup includes two Panda robots, which replicate the leader-follower roles and the impedance profiles extracted from a two-persons sawing video.
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220516094714/https://arxiv.org/pdf/2204.04003v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/96/23/96236a8f285844219ba4c63f3dc5c390005c6b86.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2204.04003v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>