A unified three-stage framework learns trajectories and variable impedance from single demonstrations, manages singularities via null-space optimization for intuitive kinesthetic teaching, and adds foundational whole-body compliance for generalized safety on a 7-DOF robot.
A null space compliance approach for maintaining safety and tracking performance in human- robot interactions,
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A Unified Multi-Layer Framework for Skill Acquisition from Imperfect Human Demonstrations
A unified three-stage framework learns trajectories and variable impedance from single demonstrations, manages singularities via null-space optimization for intuitive kinesthetic teaching, and adds foundational whole-body compliance for generalized safety on a 7-DOF robot.