Adaptive motion generation using imitation learning and highly compliant end effector for autonomous cleaning.
Gustavo Alfonso Garcia RicardezNishanth KogantiPin-Chu YangSeigo OkadaPedro Miguel Uriguen EljuriAkiya YasudaLotfi El HafiMasaki YamamotoJun TakamatsuTsukasa OgasawaraPublished in: Adv. Robotics (2020)
Keyphrases
- end effector
- imitation learning
- robotic systems
- vision system
- degrees of freedom
- inverse kinematics
- robot arm
- humanoid robot
- visual servoing
- motion planning
- robot manipulators
- human arm
- mobile robot
- control law
- joint angles
- configuration space
- position and orientation
- maximum margin
- reinforcement learning
- computer vision
- camera motion
- adaptive control
- autonomous robots
- closed loop
- pose estimation