Description

Movement Primitives [1] provide us with a time-varying precision requirements for robot motion. In this master thesis, we aim at finding alternatives for implementing those precision requirements into a robot controller that allows for a softer behavior in those parts of motion where precision is not needed.

The controllers will be implemented in the WAM or Tiago robots.

For more information, contact Adrià Colomé

[1] A. Paraschos, G Neumann, C. Daniel, and J. Peters, “Probabilistic movement primitives”. In Proc. Neural Information Processing Systems (NIPS), Cambridge, MA: MIT Press., 2013