Exploiting Ergonomic Priors in Human-to-Robot Task Transfer
Jeevan Manavalan,
Prabhakar Ray,
Matthew Howard
Abstract:In recent years, there has been a booming shift in the development of versatile, autonomous robots by introducing means to intuitively teach robots task-oriented behaviour by demonstration. In this paper, a method based on programming by demonstration is proposed to learn null space policies from constrained motion data. The main advantage to using this is generalisation of a task by retargeting a systems redundancy as well as the capability to fully replace an entire system with another of varying link number… Show more
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