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A robot learning from demonstration framework to perform force-based manipulation tasks

Autor
Rozo, L.; Jimenez, P.; Torras, C.
Tipus d'activitat
Article en revista
Revista
Intelligent service robotics
Data de publicació
2013
Volum
6
Número
1
Pàgina inicial
33
Pàgina final
51
DOI
https://doi.org/10.1007/s11370-012-0128-9 Obrir en finestra nova
Projecte finançador
IntellAct: Intelligent observation and execution of Actions and manipulations
Repositori
http://hdl.handle.net/2117/22275 Obrir en finestra nova
URL
http://dx.doi.org/10.1007/s11370-012-0128-9 Obrir en finestra nova
Resum
This paper proposes an end-to-end learning from demonstration framework for teaching force-based manipulation tasks to robots. The strengths of this work are manyfold. First, we deal with the problem of learning through force perceptions exclusively. Second, we propose to exploit haptic feedback both as a means for improving teacher demonstrations and as a human–robot interaction tool, establishing a bidirectional communication channel between the teacher and the robot, in contrast to the work...
Citació
Rozo, L.; Schlegl, P.; Torras, C. A robot learning from demonstration framework to perform force-based manipulation tasks. "Intelligent Service Robotics", 2013, vol. 6, núm. 1, p. 33-51.
Paraules clau
Programming by demonstration · Imitation learning · Haptic perception · Mutual information · HMM · GMR · Robotic manipulation
Grup de recerca
ROBiri - Grup de Robòtica de l'IRI

Participants