Learning by Demonstration for Motion Planning of Upper-Limb Exoskeletons

Learning by Demonstration for Motion Planning of Upper-Limb Exoskeletons

The reference joint position of upper-limb exoskeletons is typically obtained by means of Cartesian motion planners and inverse kinematics algorithms with the inverse Jacobian; this approach allows exploiting the available Degrees of Freedom (i.e. DoFs) of the robot kinematic chain to achieve the de...

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Bibliographic Details
Main Authors: Clemente Lauretti, Francesca Cordella, Anna Lisa Ciancio, Emilio Trigili, Jose Maria Catalan, Francisco Javier Badesa, Simona Crea, Silvio Marcello Pagliara, Silvia Sterzi, Nicola Vitiello, Nicolas Garcia Aracil, Loredana Zollo
Format: Article
Language:English
Published: Frontiers Media S.A. 2018-02-01
Series:Frontiers in Neurorobotics
Subjects:
motion planning
machine learning
learning by demonstration
dynamics movement primitives
assistive robotics
Online Access:http://journal.frontiersin.org/article/10.3389/fnbot.2018.00005/full

Internet

http://journal.frontiersin.org/article/10.3389/fnbot.2018.00005/full

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