Motion planning and reactive control on learnt skill manifolds
نویسندگان
چکیده
منابع مشابه
Motion planning and reactive control on learnt skill manifolds
We address the problem of encoding and executing skills, i.e., motion tasks involving a combination of specifications regarding constraints and variability. We take an approach that is model-free in the sense that we do not assume an explicit and complete analytical specification of the task which can be hard to obtain for many realistic robot systems. Instead, we learn an encoding of the skill...
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Coordinated whole-body motions are key for achieving the full potential of humanoids performing tasks in human environments and in cooperation with humans. We present a multi-skill motion planning and learning framework which is able to address several complex whole-body coordinations and as well detection and imitation of motion constraints. The framework is composed of three main parts: first...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2013
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364913482016