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a robot learning to flip pancakes
Bookmarked 776 weeks ago the video shows a barrett wam 7 dofs manipulator learning to flip pancakes by reinforcement learningthe motion is encoded in a mixture of basis force fields through an extension of dynamic movement primitives dmp that represents the synergies across the different variables through stiffness matrices an inverse dynamics controller with variable stiffness is used for reproduction the skill is first demonstrated via kinesthetic teaching and then refined by policy learning by weighting exploration with the returns power algorithm after 50 trials the robot learns that the first part of the task requires a stiff behavior to throw the pancake in the air while the second part requires the hand to be compliant in order to catch the pancake without having it bounced off the panvideo credits:dr petar kormushev dr sylvain calinonadvanced robotics dept italian institute of technologylinks to authors webpages:http:kormushevcomhttp:programming-by-demonstrationorgsylvaincalinonlink to publication describing the experiment:http:programming-by-demonstrationorgpaperskormushev-iros2010pdflink to publication on power algorithm by jens kober and jan peters:http:booksnipsccpapersfilesnips21nips2008_0089pdf |
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