Robot See Robot Do

Robot See , Robot Do : An Overview of Robot Imitation

There are currently two major approaches to robot teaching: explicitly tell the robot what to do (programming) or let the robot gure it out for itself (reinforcement learning/genetic algorithms). In this paper we give an overview of a new approach, in which the robot instead learns novel behaviours by observing the behaviour of others: imitation learning. We summarize the psychological backgrou...

Robot See , Robot Do : An Overview of Robot Imitation Paul Bakker

There are currently two major approaches to robot teaching: explicitly tell the robot what to do (programming) or let the robot gure it out for itself (reinforcement learning/genetic algorithms). In this paper we give an overview of a new approach, in which the robot instead learns novel behaviours by observing the behaviour of others: imitation learning. We summarize the psychological backgrou...

Will the Robot Do the Right Thing ?

Constraint Nets have been developed as an algebraic on-line computational model of robotic systems. A robotic system consists of a robot and its environment. A robot consists of a plant and a controller. A constraint net is used to model the dynamics of each component and the complete system. The overall behavior of the system emerges from the coupling of each of its components. The question po...

Teaching a Robot to See How It Moves

An Adaptive Impedance Controller for Robot Manipulators

A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...