This library provides various demos of using kmp.
These codes are mainly written by Dr. Yanlong Huang.
Part of the codes are provided by Dr. Sylvain Calinon, Dr. Fares J. Abu-Dakka and Dr. João Silvério,
which have been acknowledged in the corresponding files.
- KERNELIZED MOVEMENT PRIMITIVES (KMP)
Model letters 'G' using GMM/GMR
Trajectory adaptation by using KMP
- ORIENTATION-KMP
Demonstrated quaternions and angular velocities
Adaptation by using orientation-KMP
@Article{Huang19IJRR,
Title = {Kernelized Movement Primitives},
Author = {Huang, Y. and Rozo, L. and Silv\'erio, J. and Caldwell, D. G.},
Journal = {International Journal of Robotics Research},
Year = {2019},
Volume={38},
Number={7},
Pages = {833--852},
}
@InProceedings{Huang19ICRA_1,
Title = {Non-parametric Imitation Learning of Robot Motor Skills},
Author = {Huang, Y. and Rozo, L. and Silv\'erio, J. and Caldwell, D. G.},
Booktitle = {Proc. {International Conference on Robotics and Automation ({ICRA})},
Year = {2019},
Address = {Montreal, Canada},
Month = {May},
Pages = {5266--5272}
}
@InProceedings{Huang19ICRA_2,
Title = {Generalized Orientation Learning in Robot Task Space},
Author = {Huang, Y. and Abu-Dakka, F. and Silv\'erio, J. and Caldwell, D. G.},
Booktitle = {Proc. {International Conference on Robotics and Automation ({ICRA})},
Year = {2019},
Address = {Montreal, Canada},
Month = {May},
Pages = {2531--2537}
}