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Imitation learning, also known as Programming by Demonstration, allows a non-expert user to teach complex skills to a robot. While so far researchers focused on abstracting kinematic relations, only little attention has been paid to force information. In this work we study imitation learning of human grasping skills from motion and force data. For this purpose a teleoperation system is realized that...
In this paper, a new mimesis scheme is proposed. This scheme enables for a humanoid to imitate human's motion even though the humanoid cannot see human's whole-body motion and the humanoid has not seen the exactly same motion so far. Mimesis framework is based on continuous hidden Markov model. Viterbi algorithm is applied in order to generate more various motion patterns than the number of existing...
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