Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP
Anna Reithmeir,Luis Figueredo,Sami Haddadin,Anna Reithmeir,Luis Figueredo,Sami Haddadin
Manipulability ellipsoids efficiently capture the human pose and reveal information about the task at hand. Their use in task-dependent robot teaching - particularly their transfer from a teacher to a learner - can advance emulation of human-like motion. Although in recent literature focus is shifted towards manipulability transfer between two robots, the adaptation to the capabilities of the othe...
