Learning Whole-Body Human-Robot Haptic Interaction in Social Contexts
Joseph Campbell,Katsu Yamane,Joseph Campbell,Katsu Yamane
This paper presents a learning-from-demonstration (LfD) framework for teaching human-robot social interactions that involve whole-body haptic interaction, i.e. direct human-robot contact over the full robot body. The performance of existing LfD frameworks suffers in such interactions due to the high dimensionality and spatiotemporal sparsity of the demonstration data. We show that by leveraging th...
