A robot learning from demonstration framework to perform force-based manipulation tasks

@article{Rozo2013ARL,
  title={A robot learning from demonstration framework to perform force-based manipulation tasks},
  author={Leonel Dario Rozo and Pablo Jim{\'e}nez and Carme Torras},
  journal={Intelligent Service Robotics},
  year={2013},
  volume={6},
  pages={33-51}
}
This paper proposes an end-to-end learning from demonstration framework for teaching force-based manipulation tasks to robots. The strengths of this work are manyfold. First, we deal with the problem of learning through force perceptions exclusively. Second, we propose to exploit haptic feedback both as a means for improving teacher demonstrations and as a human–robot interaction tool, establishing a bidirectional communication channel between the teacher and the robot, in contrast to the works… CONTINUE READING
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