ILOnPanda

This project aims to efficiently estimate complete human-like variable impedance skills from human demonstrations and to transfer the skills to real-world robots. In this project, we applied GMM-GMR to extract a reference pose trajectory and estimate stiffness profiles from collected data. Then, we utilized DMP to imitate and generalize the taught skill.

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This project aims to efficiently estimate complete human-like variable impedance skills from human demonstrations and to transfer the skills to real-world robots.

In this project, we applied GMM-GMR to extract a reference pose trajectory and estimate stiffness profiles from collected data. Then, we utilized DMP to imitate and generalize the taught skill.

Paper: https://arxiv.org/abs/2104.01324

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