Learning Optimized Human Motion via Phase Space Analysis
Paul Gesel,Francesco Mikulis-Borsoi,Dain LaRoche,Sajay Arthanat,Momotaz Begum,Paul Gesel,Francesco Mikulis-Borsoi,Dain LaRoche,Sajay Arthanat,Momotaz Begum
This paper proposes a dynamic system based learning from demonstration approach to teach a robot activities of daily living. The approach takes inspiration from human movement literature to formulate trajectory learning as an optimal control problem. We assume a weighted combination of basis objective functions is the true objective function for a demonstrated motion. We derive basis objective fun...
