Dynamic movement primitives in robotics: A tutorial survey
Biological systems, including human beings, have the innate ability to perform complex
tasks in a versatile and agile manner. Researchers in sensorimotor control have aimed to …
tasks in a versatile and agile manner. Researchers in sensorimotor control have aimed to …
Variable impedance control and learning—a review
Robots that physically interact with their surroundings, in order to accomplish some tasks or
assist humans in their activities, require to exploit contact forces in a safe and proficient …
assist humans in their activities, require to exploit contact forces in a safe and proficient …
Adaptive fingers coordination for robust grasp and in-hand manipulation under disturbances and unknown dynamics
We present a control framework for achieving a robust object grasp and manipulation in
hand. In-hand manipulation remains a demanding task as the object is never stable and task …
hand. In-hand manipulation remains a demanding task as the object is never stable and task …
Interactive imitation learning of bimanual movement primitives
Performing bimanual tasks with dual robotic setups can drastically increase the impact on
industrial and daily life applications. However, performing a bimanual task brings many …
industrial and daily life applications. However, performing a bimanual task brings many …
Modified dynamic movement primitives: robot trajectory planning and force control under curved surface constraints
Dynamic movement primitives (DMPs) have been widely applied in robot motion planning
and control. However, in some special cases, original discrete DMP fails to generalize …
and control. However, in some special cases, original discrete DMP fails to generalize …
An energy-based control architecture for shared autonomy
In robotic applications where the autonomy is shared between the human and the robot, the
autonomous behavior of the robotic system is determined considering mainly the task to be …
autonomous behavior of the robotic system is determined considering mainly the task to be …
PI-ELM: Reinforcement learning-based adaptable policy improvement for dynamical system
Behavioral cloning of imitation learning is theoretically sound that can capture and generate
the motor skills from expert demonstrations, but they suffer poor adaptability with a small …
the motor skills from expert demonstrations, but they suffer poor adaptability with a small …
Imitation-based motion planning and control of a multi-section continuum robot interacting with the environment
Recently, flexible robots are growing in importance owing to their merits over rigid robots in
maneuverability and safety, which equips them to work in unstructured environments, such …
maneuverability and safety, which equips them to work in unstructured environments, such …
[HTML][HTML] A trajectory and force dual-incremental robot skill learning and generalization framework using improved dynamical movement primitives and adaptive neural …
Due to changes in the environment and errors that occurred during skill initialization, the
robot's operational skills should be modified to adapt to new tasks. As such, skills learned by …
robot's operational skills should be modified to adapt to new tasks. As such, skills learned by …
Learning to pick at non-zero-velocity from interactive demonstrations
This work investigates how the intricate task of a continuous pick & place (P&P) motion may
be learned from humans based on demonstrations and corrections. Due to the complexity of …
be learned from humans based on demonstrations and corrections. Due to the complexity of …