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Transferring Impedance Control Strategies Between Heterogeneous Systems via Apprenticeship Learning
We present a novel method for designing controllers for robots with variable impedance actuators. We take an imitation learning approach, whereby we learn impedance modulation strategies from observations of behaviour (for ...
An Approximate Inference Approach to Temporal Optimization in Optimal Control
Algorithms based on iterative local approximations present a practical approach to optimal control in robotic systems. However, they generally require the temporal parameters (for e.g. the movement duration or the time ...