Incremental robot skill learning by human motion retargetting and physical human guidance

Dongheui Lee

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

5 Zitate (Scopus)

Abstract

Research on skill acquisition and generalization to a different scenario has grown steadily in importance and became now a main topic of robotics research. Imitation learning, one of the main streams for robot learning, provides an efficient way to learn new skills through human guidance, which can reduce time and cost to program the robot. This extended abstract presents our research on incremental skill learning through physical human robot interactions. We introduce our method to teach a robot how to learn synchronized and coordinated whole body motions. Our controller provides a human user comfortable assistance for physical guidance beyond the gravity compensation. External force torque estimation allows further possibilities. One is teaching motion primitives of a legged humanoid robot by taking human intervention into consideration for a balancing problem. Another is teaching multiple tasks like end-effector motions and null space motions. The proposed algorithms are verified on multiple robotic systems including full size humanoid robots.

OriginalspracheEnglisch
Titel2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
Seiten585-586
Seitenumfang2
ISBN (elektronisch)9781467379700
DOIs
PublikationsstatusVeröffentlicht - 16 Dez. 2015
Extern publiziertJa
Veranstaltung12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Südkorea
Dauer: 28 Okt. 201530 Okt. 2015

Publikationsreihe

Name2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015

Konferenz

Konferenz12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Land/GebietSüdkorea
OrtGoyang City
Zeitraum28/10/1530/10/15

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