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Execution fault recovery in robot programming by demonstration using multiple models

Autor
Hoyos, J.; Prieto, F.; Alenyà, G.; Torras, C.
Tipus d'activitat
Article en revista
Revista
IEEE Latin America transactions
Data de publicació
2016
Volum
14
Número
2
Pàgina inicial
517
Pàgina final
523
DOI
https://doi.org/10.1109/TLA.2016.7437187 Obrir en finestra nova
Projecte finançador
I-DRESS: Assistive interactive robotic system for support in dressing - PCIN-2015-147
RobInstruct: Instructing robots using natural communication skills - TIN2014-58178-R
Repositori
http://hdl.handle.net/2117/102680 Obrir en finestra nova
URL
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7437187 Obrir en finestra nova
Resum
Deformable object (e.g., clothes) manipulation by a robot in interaction with a human being presents several interesting challenges. Due to texture and deformability, the object can get hooked in the human limbs. Moreover, the human can change their limbs position and curvature, which require changes in the paths to be followed by the robot. To help solve these problems, in this paper we propose a technique of learning by demonstration able to adapt to changes in position and curvature of the ob...
Citació
Hoyos, J., Prieto, F., Alenyà, G., Torras, C. Execution fault recovery in robot programming by demonstration using multiple models. "IEEE Latin America transactions", 2016, vol. 14, núm. 2, p. 517-523.
Paraules clau
intelligent robots, robot programming, service robots.
Grup de recerca
ROBiri - Grup de Robòtica de l'IRI

Participants