Adaptive motion generation using imitation learning and highly compliant end effector for autonomous cleaning

@article{Ricardez2020AdaptiveMG,
  title={Adaptive motion generation using imitation learning and highly compliant end effector for autonomous cleaning},
  author={Gustavo Alfonso Garcia Ricardez and Nishanth Koganti and P.-C. Yang and Seigo Okada and Pedro Miguel Uriguen Eljuri and Akiya Yasuda and Lotfi El Hafi and M. Yamamoto and Jun Takamatsu and Tsukasa Ogasawara},
  journal={Advanced Robotics},
  year={2020},
  volume={34},
  pages={189 - 201}
}
Recent demographic trends in super aging societies, such as Japan, is leading to severe worker shortage. Service robots can play a promising role to augment human workers for performing various household and assistive tasks. Toilet cleanup is one such challenging task that involves performing complaint motion planning in a constrained toilet setting. In this study, we propose an end-to-end robotic framework to perform various tasks related to toilet cleanup. Our key contributions include the… 
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