Kinesthetic Bootstrapping: Teaching Motor Skills to Humanoid Robots through Physical Interaction

  title={Kinesthetic Bootstrapping: Teaching Motor Skills to Humanoid Robots through Physical Interaction},
  author={Heni Ben Amor and Erik Berger and David Vogt and Bernhard Jung},
Programming of complex motor skills for humanoid robots can be a time intensive task, particularly within conventional textual or GUI-driven programming paradigms. Addressing this drawback, we propose a new programming-by-demonstration method called Kinesthetic Bootstrapping for teaching motor skills to humanoid robots by means of intuitive physical interactions. Here, "programming" simply consists of manually moving the robot's joints so as to demonstrate the skill in mind. The bootstrapping… 
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