The control of a robot in its task space is a standard approach nowadays. If the system is
kinematically redundant with respect to this goal, one can even execute additional subtasks …

This chapter presents an overview of learning approaches for the acquisition of controllers
and movement skills in humanoid robots. The term learning control refers to the process of …

Bimanual operations in humanoids offer the possibility to carry out more than one
manipulation task at the same time, which in turn introduces the problem of task …

During the past few years, probabilistic approaches to imitation learning have earned a
relevant place in the robotics literature. One of their most prominent features is that, in …

When learning skills from demonstrations, one is often required to think in advance about
the appropriate task representation (usually in either operational or configuration space). We …

Adaptive control of robot manipulators based on the use of a sliding variable and the
passivity property of the dynamic equations was originally designed and successfully …

In contrast to humans and animals who naturally execute seamless motions, learning and
smoothly executing sequences of actions remains a challenge in robotics. This letter …

Tracking multiple prioritized tasks simultaneously with redundant robots have been
investigated extensively over the last decades. Recent research focuses on combining …

Generating complex movements in redundant robots like humanoids is usually done by
means of multi-task controllers based on quadratic programming, where a multitude of tasks …

Designing controllers for complex robots such as humanoids is not an easy task. Often,
researchers hand-tune controllers, but this is a time-consuming approach that yields a single …