TrueÆdapt: Learning Smooth Online Trajectory Adaptation with Bounded Jerk, Acceleration and Velocity in Joint Space
Jonas C. Kiemel,Robin Weitemeyer,Pascal Meißner,Torsten Kröger,Jonas C. Kiemel,Robin Weitemeyer,Pascal Meißner,Torsten Kröger
We present TrueÆdapt, a model-free method to learn online adaptations of robot trajectories based on their effects on the environment. Given sensory feedback and future waypoints of the original trajectory, a neural network is trained to predict joint accelerations at regular intervals. The adapted trajectory is generated by linear interpolation of the predicted accelerations, leading to continuou...
