ICRA 2011 Paper Abstract


Paper WeAV215.3

Lee, Dongheui (Technical University of Munich), Ott, Christian (German Aerospace Center (DLR)), Nakamura, Yoshihiko (University of Tokyo), Hirzinger, Gerd (German Aerospace Center (DLR))

Physical Human-Robot Interaction in Imitation Learning

Scheduled for presentation during the Video Sessions "Video Session II: Humanoid and Service Robotics" (WeAV215), Wednesday, May 11, 2011, 10:21−10:29, Room 3A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Physical Human-Robot Interaction, Learning and Adaptive Systems, Humanoid Robots


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.



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