Learning Predictive Models for Ergonomic Control of Prosthetic Devices

no code implementations • 13 Nov 2020 • Geoffrey Clark, Joseph Campbell, Heni Ben Amor

We present Model-Predictive Interaction Primitives -- a robot learning framework for assistive motion in human-machine collaboration tasks which explicitly accounts for biomechanical impact on the human musculoskeletal system.

Model Predictive Control

Predictive Modeling of Periodic Behavior for Human-Robot Symbiotic Walking

no code implementations • 27 May 2020 • Geoffrey Clark, Joseph Campbell, Seyed Mostafa Rezayat Sorkhabadi, Wenlong Zhang, Heni Ben Amor

We propose in this paper Periodic Interaction Primitives - a probabilistic framework that can be used to learn compact models of periodic behavior.

Imitation Learning