A robot learning how to hold a broom and sweep the floor
The video shows a setup of two Barrett WAM 7-DoF robots performing a bimanual sweeping task learned from demonstrations, using a combination of quaternion-based TP-GMM and dynamical systems. During the demonstration phase a human transfers the skill to the robots using kinesthetic teaching. Later, in the reproduction phase the robots carry out the task for situations that were not demonstrated, namely to new orientations of the area to be swept by the broom. The video also shows that bimanual coordination patterns are learned and that the arms compensate for perturbations in order to keep the learned patterns.