Physical Human Robot Interaction in Imitation Learning

摘要：

This video presents our recent research on the integration of physical human-robot interaction (pHRI) into imitation learning. First, a marker control approach for realtime human motion imitation is shown. Secondly, physical coaching in addition to observational learning is applied for the incremental learning of motion primitives. Last, we extend imitation learning to learning pHRI which includes the establishment of intended physical contacts. The proposed methods were implemented and tested using the IRT humanoid robot and DLR’s humanoid upper-body robot Justin.

作者: Dongheui Lee Christian Ott Yoshihiko Nakamura Gerd Hirzinger

作者单位: Department of Electrical Engineering and Information Technology,Technical University of Munich,Germa Institute of Robotics and Mechatronics,German Aerospace Center (DLR e.V.) Department of Mechano-Informatics,The University of Tokyo,Japan

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3439-3440

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）