Task Driven Skill Learning in a Soft-Robotic Arm
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 dynamically control a two-module bio-inspired soft-robotic arm in order to qualitatively reproduce a path defined by sparse way-points. The main idea behind this work is based on the assumption that a complex trajectory may be derived as a combination of a discrete set of parameterizable simple movements, as suggested by Movement Primitive ...
