A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control

Understand

In this paper we introduce a novel framework for expressing and learning force-sensitive robot manipulation skills.

• It is based on a formalism that extends our previous work on adaptive impedance control with meta parameter learning and compatible skill specifications.
• This way the system is also able to make use of abstract expert knowledge by incorporating process descriptions and quality evaluation metrics.
• We evaluate various state-of-the-art schemes for the meta parameter learning and experimentally compare selected ones.