Osamu Hasegawa

2 accepted papers

2018

Accelerating Model Learning with Inter-Robot Knowledge Transfer

Ndivhuwo Makondo, Benjamin Rosman, Osamu Hasegawa

ICRA 2018poster

Online learning of a robot's inverse dynamics model for trajectory tracking necessitates an interaction between the robot and its environment to collect training data. This is challenging for physical robots in the real world, especially for humanoids and manipulators due to their large and high dim…

Cited by 18 Source ↗Scholar ↗

2016

Trajectory learning from human demonstrations via manifold mapping

Michihisa Hiratsuka, Ndivhuwo Makondo, Benjamin Rosman, Osamu Hasegawa

IROS 2016poster

This work proposes a framework that enables arbitrary robots with unknown kinematics models to imitate human demonstrations to acquire a skill, and reproduce it in real-time. The diversity of robots active in non-laboratory environments is growing constantly, and to this end we present an approach f…

Cited by 11 Source ↗Scholar ↗