SM
Simon Manschitz
Authored
3 records found
Mixture of Attractors
A novel movement primitive representation for learning motor skills from demonstrations
In this letter, we introduce Mixture of Attractors, a novel movement primitive representation that allows for learning complex object-relative movements. The movement primitive representation inherently supports multiple coordinate frames, enabling the system to generalize a s ...
Learning skills from kinesthetic demonstrations is a promising way of minimizing the gap between human manipulation abilities and those of robots. We propose an approach to learn sequential force interaction skills from such demonstrations. The demonstrations are decomposed into
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Learning sequential force interaction tasks from kinesthetic demonstrations is a promising approach to transfer human manipulation abilities to a robot. In this paper we propose a novel concept to decompose such demonstrations into a set of Movement Primitives (MPs). The decom ...