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Human-robot skill transfer has been deeply investigated from a kinematic point of view, generating various approaches to increase the robot knowledge in a simple and compact way. Nevertheless, social robotics applications require a close and active interaction with humans in a safe and natural manner. Torque controlled robots, with their variable impedance capabilities, seem a viable option toward...
We present an approach for kinesthetic teaching of motion primitives for a humanoid robot. The proposed teaching method allows for iterative execution and motion refinement using a forgetting factor. During the iterative motion refinement, a confidence value specifies an area of allowed refinement around the nominal trajectory. A novel method for continuous generation of motions from a hidden Markov...
In this paper, mimetic communication is extended to human-robot interaction tasks, in which physical contact transitions must be handled. The mimetic communication consists of imitation learning for learning low level motion primitives and a higher level interaction learning stage in which also the information about the human-robot contacts is included. For the imitation learning, Cartesian marker...
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