Learning Object Manipulation with Dexterous Hand-Arm Systems from Human Demonstration
Philipp Ruppel,Jianwei Zhang,Philipp Ruppel,Jianwei Zhang
We present a novel learning and control framework that combines artificial neural networks with online trajectory optimization to learn dexterous manipulation skills from human demonstration and to transfer the learned behaviors to real robots. Humans can perform the demonstrations with their own hands and with real objects. An instrumented glove is used to record motions and tactile data. Our sys...
