Imitation-based motion programming for robotic manipulators

Abstract

In this paper, based on original idea, the authors propose a new strategy to robot programming using imitation paradigm. To program the desired motion sequence for the physical robot, one captures the motion reference paths from her virtual robot model and maps these to the joint settings of the physical robot. Motion imitation requires transfer of a dynamical signature of a movement of the virtual robot to the physical robot, i.e. the robots should be able to encode and reproduce a particular path as one with a specific velocity and/or an acceleration profile. Furthermore, the virtual robot must cover all possible contexts in which the physical robot will need to generate similar motions in unseen context.