Robot learning from demonstration of force-based tasks with multiple solution trajectories
Tipus de documentText en actes de congrés
Condicions d'accésAccés obert
Projecte de la Comissió EuropeaGARNICS - Gardening with a Cognitive System (EC-FP7-247947)
INTELLACT - Intelligent observation and execution of Actions and manipulations (EC-FP7-269959)
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 these executions using only its force-based perceptive system. Our work departs from the usual approaches to learning by demonstration in that the robot has to execute the task blindly, relying only on force-torque perceptions, and, more essential, we address goal-driven manipulation tasks with multiple solution trajectories, whereas most works tackle tasks that can be learned by just finding a generalization at the trajectory level. To cope with these multiple-solution tasks, in our framework demonstrations are represented by means of a Hidden Markov Model (HMM) and the robot reproduction of the task is performed using a modified version of Gaussian Mixture Regression that incorporates temporal information (GMRa) through the forward variable of the HMM. Also, we exploit the haptic device as a teaching and communication tool in a human-robot interaction context, as an alternative to kinesthetic-based teaching systems. Results show that the robot is able to learn a container-emptying task relying only on force-based perceptions and to achieve the goal from several non-trained initial conditions.
CitacióRozo, L.; Jimenez, P.; Torras, Carme. Robot learning from demonstration of force-based tasks with multiple solution trajectories. A: International Conference on Advanced Robotics. "Proceedings of the 15th International Conference on Advanced Robotics (ICAR 2011)". Tallin: 2011, p. 124-129.
Versió de l'editorhttp://dx.doi.org/10.1109/ICAR.2011.6088633