On-Line Learning and Planning in a Pick-and-Place Task Demonstrated Through Body Manipulation

A robotic arm is taught how to sort different cans into two boxes depending on their color. The trajectory to reach the pick-up place and the two boxes is shown by the human through passive manipulation. The association between a type of object and the correct box is reinforced by the human presenting a positive feedback. ETIS lab, CNRS UMR 8051 - ENSEA - University of Cergy-Pontoise Cergy-Pontoise, F95000, France