Imperial College London

DrPetarKormushev

Faculty of EngineeringDyson School of Design Engineering

Lecturer
 
 
 
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Contact

 

+44 (0)20 7594 9235p.kormushev Website

 
 
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Location

 

10-12 Prince's GardensSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Kormushev:2010,
author = {Kormushev, P and Calinon, S and Caldwell, DG},
title = {Approaches for Learning Human-like Motor Skills which Require Variable Stiffness During Execution},
url = {http://kormushev.com/papers/Kormushev_Humanoids2010_workshop.pdf},
year = {2010}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - Humans employ varying stiffness in everydaylife for almost all human motor skills, using both passiveand active compliance. Robots have only recently acquiredvariable passive stiffness actuators and they are not yet mature.Active compliance controllers have existed for a longer time,but the problem of automatic determination of the necessarycompliance to achieve a task has not been thoroughly studied.Teaching humanoid robots to apply variable stiffness to theskills they acquire is vital in order to achieve human-likenaturalness of the execution. Also, using adaptive compliancecan help to increase the energy efficiency. This paper comparestwo different approaches that allow robots to learn human-likeskills which require varying stiffness during execution. Theadvantages and disadvantages of each approach is discussedand demonstrated with various experiments on an activelycompliantBarrett WAM robot.
AU - Kormushev,P
AU - Calinon,S
AU - Caldwell,DG
PY - 2010///
TI - Approaches for Learning Human-like Motor Skills which Require Variable Stiffness During Execution
UR - http://kormushev.com/papers/Kormushev_Humanoids2010_workshop.pdf
UR - http://hdl.handle.net/10044/1/26095
ER -