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 [BibTeX] [Marc21]
Learning Task-Space Synergies using Riemannian Geometry
Type of publication: Conference paper
Citation: Zeestraten_IROS_2017
Publication status: Published
Booktitle: Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS)
Year: 2017
Month: September
Pages: 73-78
Publisher: IEEE
Location: Vancouver, Canada
URL: https://www.iros2017.org/...
Abstract: In the context of robotic control, synergies can form an elementary unit of behavior. By specifying task-dependent coordination behaviors at a low control level, one can achieve task-specific disturbance rejection. In this work we present an approach to learning such controllers by demonstration. We identify a synergy by extracting covariance information from demonstration data. The extracted synergy is used to derive a time-invariant state feedback controller through optimal control. To cope with the non-Euclidean nature of robot poses, we utilize Riemannian geometry, where both estimation of the covariance and the associated controller take into account the geometry of the pose manifold. We demonstrate the efficacy of the approach experimentally, in a bimanual manipulation task.
Keywords: bimanual coordination, Riemannian manifolds, robot learning
Projects Idiap
Authors Zeestraten, M.
Havoutis, I.
Calinon, Sylvain
Caldwell, D. G.
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Total mark: 0
  • Zeestraten_IROS_2017.pdf