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

Dongheui Lee

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

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.

Original languageEnglish
Title of host publication2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages585-586
Number of pages2
ISBN (Electronic)9781467379700
DOIs
StatePublished - 16 Dec 2015
Externally publishedYes
Event12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Korea, Republic of
Duration: 28 Oct 201530 Oct 2015

Publication series

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

Conference

Conference12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Country/TerritoryKorea, Republic of
CityGoyang City
Period28/10/1530/10/15

Keywords

  • Incremental skill learning and refinement
  • physical human robot interaction

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