Robot Learns to Flip Pancakes

Pancake day special! The video shows a Barrett WAM robot learning to flip pancakes by reinforcement learning. The motion is encoded in a mixture of basis force fields through an extension of Dynamic Movement Primitives (DMP) that represents the synergies across the different variables through stiffness matrices. An Inverse Dynamics controller with variable stiffness is used for reproduction. For pancake day special, the skill is first demonstrated via kinesthetic teaching, and then refined by Policy lear