3 accepted papers
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects that remain challenging to capture, e.g., stick-slip frictio…
Learning from Demonstration (LfD) provides an intuitive and fast approach to program robotic manipulators. Task parameterized representations allow easy adaptation to new scenes and online observations. However, this approach has been limited to pose-only demonstrations and thus only skills with spa…
Estimating accurate forward and inverse dynamics models is a crucial component of model-based control for sophisticated robots such as robots driven by hydraulics, artificial muscles, or robots dealing with different contact situations. Analytic models to such processes are often unavailable or inac