Now showing items 1-10 of 10

    • 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 ...
    • Learning physical collaborative robot behaviors from human demonstrations 

      Rozo Castañeda, Leonel; Calinon, Sylvain; Caldwell, Darwin; Jimenez Schlegl, Pablo; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2016-04-01)
      Article
      Open Access
      Robots are becoming safe and smart enough to work alongside people not only on manufacturing production lines, but also in spaces such as houses, museums, or hospitals. This can be significantly exploited in situations in ...
    • 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 ...