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Joining high-level symbolic planning with low-level motion primitives in adaptive HRI: application to dressing assistance

Author
Canal, G.; Pignat, E.; Alenyà, G.; Calinon, .; Torras, C.
Type of activity
Presentation of work at congresses
Name of edition
2018 IEEE International Conference on Robotics and Automation
Date of publication
2018
Presentation's date
2018
Book of congress proceedings
2018 IEEE International Conference on Mechatronics, Robotics and Automation: ICMRA 2018: May 18-21, 2018, Hefei University of Technology, China
First page
3273
Last page
3278
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/ICRA.2018.8460606 Open in new window
Project funding
Assistive interactive robotic system for support in dressing
Unit of Excellence María de Maeztu
Repository
http://hdl.handle.net/2117/125335 Open in new window
URL
https://ieeexplore.ieee.org/document/8460606 Open in new window
Abstract
For a safe and successful daily living assistance, far from the highly controlled environment of a factory, robots should be able to adapt to ever-changing situations. Programming such a robot is a tedious process that requires expert knowledge. An alternative is to rely on a high-level planner, but the generic symbolic representations used are not well suited to particular robot executions. Contrarily, motion primitives encode robot motions in a way that can be easily adapted to different situa...
Citation
Canal, G., Pignat, E., Alenyà, G., Calinon, Torras, C. Joining high-level symbolic planning with low-level motion primitives in adaptive HRI: application to dressing assistance. A: IEEE International Conference on Robotics and Automation. "2018 IEEE International Conference on Mechatronics, Robotics and Automation : ICMRA 2018 : May 18-21, 2018, Hefei University of Technology, China". Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 3273-3278.
Keywords
Learning from Demonstration, Physical Human-Robot Interaction, Shoe fitting., Symbolic Task Planning, intelligent robots, service robots
Group of research
ROBiri - IRI Robotics Group

Participants