Dual-Filtering for On-Line Simultaneously Estimate Weights and Phase Parameter of Probabilistic Movement Primitives for Human-Robot Collaboration

The Probabilistic Movement Primitives (ProMPs) is an essential issue and framework for robotics Learning from Demonstration (LfD). It has been successfully applied to the robotics field in tasks such as skill acquisition and Human-Robot Collaboration (HRC). In this paper, we focus on its adaptability in the HRC scenario, in which the adaptability of the ProMPs allows the robot to predict the futur...