Reproduction of Human Demonstrations with a Soft-Robotic Arm based on a Library of Learned Probabilistic Movement Primitives
Paris Oikonomou,Athanasios Dometios,Mehdi Khamassi,Costas S. Tzafestas,Paris Oikonomou,Athanasios Dometios,Mehdi Khamassi,Costas S. Tzafestas
In this paper we introduce a novel technique that aims to control a two-module bio-inspired soft-robotic arm in order to qualitatively reproduce human demonstrations. The main idea behind the proposed methodology is based on the assumption that a complex trajectory can be derived from the composition and asynchronous activation of learned parameterizable simple movements constituting a knowledge b...
