Online movement adaptation based on previous sensor experiences

  title={Online movement adaptation based on previous sensor experiences},
  author={Peter Pastor and Ludovic Righetti and Mrinal Kalakrishnan and Stefan Schaal},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  • P. Pastor, L. Righetti, S. Schaal
  • Published 5 December 2011
  • Computer Science
  • 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Personal robots can only become widespread if they are capable of safely operating among humans. In uncertain and highly dynamic environments such as human households, robots need to be able to instantly adapt their behavior to unforseen events. In this paper, we propose a general framework to achieve very contact-reactive motions for robotic grasping and manipulation. Associating stereotypical movements to particular tasks enables our system to use previous sensor experiences as a predictive… 

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