Predictive Modeling of Periodic Behavior for Human-Robot Symbiotic Walking
Geoffrey Clark,Joseph Campbell,Seyed Mostafa Rezayat Sorkhabadi,Wenlong Zhang,Heni Ben Amor,Geoffrey Clark,Joseph Campbell,Seyed Mostafa Rezayat Sorkhabadi,Wenlong Zhang,Heni Ben Amor
We propose in this paper Periodic Interaction Primitives - a probabilistic framework that can be used to learn compact models of periodic behavior. Our approach extends existing formulations of Interaction Primitives to periodic movement regimes, i.e., walking. We show that this model is particularly well-suited for learning data-driven, customized models of human walking, which can then be used f...
