On improving the extrapolation capability of task-parameterized movement models

@article{Calinon2013OnIT,
  title={On improving the extrapolation capability of task-parameterized movement models},
  author={Sylvain Calinon and Tohid Alizadeh and Darwin G. Caldwell},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={610-616}
}
Gestures are characterized by intermediary or final landmarks (real or virtual) in task space or joint space that can change during the course of the motion, and that are described by varying accuracy and correlation constraints. Generalizing these trajectories in robot learning by imitation is challenging, because of the small number of demonstrations provided by the user. We present an approach to statistically encode movements in a task-parameterized mixture model, and derive an expectation… CONTINUE READING
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