TY - GEN
T1 - Physical human robot interaction in imitation learning
AU - Lee, Dongheui
AU - Ott, Christian
AU - Nakamura, Yoshihiko
AU - Hirzinger, Gerd
PY - 2011
Y1 - 2011
N2 - This video presents our recent research on the integration of physical human-robot interaction (pHRI) into imitation learning. First, a marker control approach for realtime human motion imitation is shown. Secondly, physical coaching in addition to observational learning is applied for the incremental learning of motion primitives. Last, we extend imitation learning to learning pHRI which includes the establishment of intended physical contacts. The proposed methods were implemented and tested using the IRT humanoid robot and DLR's humanoid upper-body robot Justin.
AB - This video presents our recent research on the integration of physical human-robot interaction (pHRI) into imitation learning. First, a marker control approach for realtime human motion imitation is shown. Secondly, physical coaching in addition to observational learning is applied for the incremental learning of motion primitives. Last, we extend imitation learning to learning pHRI which includes the establishment of intended physical contacts. The proposed methods were implemented and tested using the IRT humanoid robot and DLR's humanoid upper-body robot Justin.
UR - https://www.scopus.com/pages/publications/84871684482
U2 - 10.1109/ICRA.2011.5979792
DO - 10.1109/ICRA.2011.5979792
M3 - Conference contribution
AN - SCOPUS:84871684482
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3439
EP - 3440
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -