Now showing items 1-9 of 9

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

    Rozo Castañeda, Leonel; Jiménez Schlegl, Pablo; Torras, Carme (Springer, 2013)
    Article
    Open Access
    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 ...
  • Dynamically consistent probabilistic model for robot motion learning 

    Pardo Ayala, Diego Esteban; Rozo Castañeda, Leonel; Alenyà Ribas, Guillem; Torras, Carme (2012)
    Conference report
    Open Access
    This work presents a probabilistic model for learning robot tasks from human demonstrations using kinesthetic teaching. The difference with respect to previous works is that a complete state of the robot is used to obtain ...
  • Force-based robot learning of pouring skills using parametric hidden Markov models 

    Rozo Castañeda, Leonel; Jimenez Schlegl, Pablo; Torras, Carme (2013)
    Conference report
    Open Access
    Robot learning from demonstration faces new challenges when applied to tasks in which forces play a key role. Pouring liquid from a bottle into a glass is one such task, where not just a motion with a certain force profile ...
  • Learning collaborative impedance-based robot behaviors 

    Rozo Castañeda, Leonel; Calinon, Sylvain; Caldwell, Darwin; Jimenez Schlegl, Pablo; Torras, Carme (2013)
    Conference report
    Open Access
    Research in learning from demonstration has focused on transferring movements from humans to robots. However, a need is arising for robots that do not just replicate the task on their own, but that also interact with humans ...
  • Learning force-based robot skills from haptic demonstration 

    Rozo Castañeda, Leonel; Jimenez Schlegl, Pablo; Torras, Carme (IOS Press, 2010)
    Conference report
    Open Access
    Locally weighted as well as Gaussian mixtures learning algorithms are suitable strategies for trajectory learning and skill acquisition, in the context of programming by demonstration. Input streams other than visual ...
  • Robot learning from demonstration in the force domain 

    Rozo Castañeda, Leonel; Jimenez Schlegl, Pablo; Torras, Carme (2011)
    Conference report
    Restricted access - publisher's policy
    Researchers are becoming aware of the importance of other information sources besides visual data in robot learning by demonstration (LbD). Forcebased perceptions are shown to convey very relevant information – missed by ...
  • Robot learning from demonstration of force-based tasks with multiple solution trajectories 

    Rozo Castañeda, Leonel; Jimenez Schlegl, Pablo; Torras, Carme (2011)
    Conference report
    Open Access
    A learning framework with a bidirectional communication channel is proposed, where a human performs several demonstrations of a task using a haptic device (providing him/her with force-torque feedback) while a robot captures ...
  • Robot learning of container-emptying skills through haptic demonstration 

    Rozo Castañeda, Leonel; Jimenez Schlegl, Pablo; Torras, Carme (2009)
    External research report
    Open Access
    Locally weighted learning algorithms are suitable strategies for trajectory learning and skill acquisition, in the context of programming by demonstration. Input streams other than visual information, as used in most ...
  • Sharpening haptic inputs for teaching a manipulation skill to a robot 

    Rozo Castañeda, Leonel; Jimenez Schlegl, Pablo; Torras, Carme (2010)
    Conference report
    Open Access
    Gaussian mixtures-based learning algorithms are suitable strategies for trajectory learning and skill acquisition, in the context of programming by demonstration (PbD). Input streams other than visual information, as used ...