Baxter Robot Tai Chi
video
(see https://youtu.be/05OpquGG7AQ for similar, narrated version)
An implementation on a real robot of an arm perceptual control system, with the addition of a layer for the control of a list of goals using an associative memory system from which the Tai Chi movement emerges.
The methodology achieves control of the robot arms without the need for prediction, a priori computation or kinematics.
This was implemented on the Baxter robot in the Robotics Innovation Facility at Bristol Robotics Laboratory using ROS and PCT Framework.