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- W2893058930 abstract "Motion transfer from a human to a robot implies accurate tracking of desired, demonstrated trajectories. However, direct imitation of joint position trajectories might not result in similar behavior of the robot and the human, because they have different kinematic and dynamic properties, i.e., different embodiment. To avoid the correspondence problem, the demonstrated trajectories need to be somehow adapted. In this paper we go beyond simple imitation, but we show how the torque profiles that should execute the demonstrated position trajectories are being learned in a manner that preserves the correspondence. Thus, position trajectories are modified from the demonstration and, furthermore, the robot executes the motion that preserves correspondence in a compliant manner. Because it is compliant, the robot is safer for the nearby person or environment, as potential unforeseen collisions will result in lower impact forces. We show the results of motion transfer of squatting from a human to a simulated CoMaN humanoid robot." @default.
- W2893058930 created "2018-10-05" @default.
- W2893058930 creator A5006256668 @default.
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- W2893058930 date "2018-09-29" @default.
- W2893058930 modified "2023-09-25" @default.
- W2893058930 title "Task Space Torque Profile Adaptations for Dynamical Human-Robot Motion Transfer" @default.
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- W2893058930 doi "https://doi.org/10.1007/978-3-030-00232-9_5" @default.
- W2893058930 hasPublicationYear "2018" @default.
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