ILoSA: Interactive Learning of Stiffness and Attractors
Giovanni Franzese,Anna Mészáros,Luka Peternel,Jens Kober,Giovanni Franzese,Anna Mészáros,Luka Peternel,Jens Kober
Teaching robots how to apply forces according to our preferences is still an open challenge that has to be tackled from multiple engineering perspectives. This paper studies how to learn variable impedance policies where both the Cartesian stiffness and the attractor can be learned from human demonstrations and corrections with a user-friendly interface. The presented framework, named ILoSA, uses ...
