Before revision: Human manipulation skills can be transferred to robots conveniently through learning from demonstrations (LfD) methods. However, most of these works either only encode motion trajectories or suffer from the complexity and incompleteness when estimating stiffness profiles. To solve these problems , we propose a simple and effective stiffness estimation method that estimates a complete end-effector stiffness matrix from the variation of demonstrations.
After revision: Learning Variable Impedance Control(VIC) policy can help robot assistants to intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this paper , we propose a simple and effective stiffness estimation method that estimates a complete end-effector stiffness matrix from the variation of demonstrations.