Please use this identifier to cite or link to this item:
http://hdl.handle.net/10261/55705
Share/Export:
SHARE BASE | |
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE | |
Title: | Robot learning from demonstration of force-based tasks with multiple solution trajectories |
Authors: | Rozo, Leonel CSIC ORCID; Jiménez Schlegl, Pablo ; Torras, Carme CSIC ORCID | Keywords: | Robot learning Human-robot interaction HMM GMR |
Issue Date: | 2011 | Publisher: | Institute of Electrical and Electronics Engineers | Citation: | 15th International Conference on Advanced Robotics: 124-129 (2011) | Abstract: | A learning framework with a bidirectional communication channel is proposed, where a human performs several demonstrations of a task using a haptic device (providing him/her with force-torque feedback) while a robot captures these executions using only its force-based perceptive system. Our work departs from the usual approaches to learning by demonstration in that the robot has to execute the task blindly, relying only on force-torque perceptions, and, more essential, we address goal-driven manipulation tasks with multiple solution trajectories, whereas most works tackle tasks that can be learned by just finding a generalization at the trajectory level. To cope with these multiple-solution tasks, in our framework demonstrations are represented by means of a Hidden Markov Model (HMM) and the robot reproduction of the task is performed using a modified version of Gaussian Mixture Regression that incorporates temporal information (GMRa) through the forward variable of the HMM. Also, we exploit the haptic device as a teaching and communication tool in a human-robot interaction context, as an alternative to kinesthetic-based teaching systems. Results show that the robot is able to learn a container-emptying task relying only on force-based perceptions and to achieve the goal from several non-trained initial conditions. | Description: | Presentado al ICAR 2011 celebrado en Tallin (Estonia) del 20 al 23 de junio de 2011. | Publisher version (URL): | http://dx.doi.org/10.1109/ICAR.2011.6088633 | URI: | http://hdl.handle.net/10261/55705 | DOI: | 10.1109/ICAR.2011.6088633 | ISBN: | 978-1-4577-1158-9 |
Appears in Collections: | (IRII) Libros y partes de libros |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
Robot_Learning_Tallin.pdf | 978,48 kB | Adobe PDF | View/Open |
CORE Recommender
Page view(s)
558
checked on May 6, 2024
Download(s)
256
checked on May 6, 2024
Google ScholarTM
Check
Altmetric
Altmetric
WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.