Incremental motion primitive learning by physical coaching using impedance control

  title={Incremental motion primitive learning by physical coaching using impedance control},
  author={Dongheui Lee and Christian Ott},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
We present an approach for kinesthetic teaching of motion primitives for a humanoid robot. The proposed teaching method allows for iterative execution and motion refinement using a forgetting factor. During the iterative motion refinement, a confidence value specifies an area of allowed refinement around the nominal trajectory. A novel method for continuous generation of motions from a hidden Markov model (HMM) representation of motion primitives is proposed, which incorporates relative time… CONTINUE READING
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