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dc.contributor.authorHoyos, Jose
dc.contributor.authorPrieto, Flavio
dc.contributor.authorAlenyà Ribas, Guillem
dc.contributor.authorTorras, Carme
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2017-03-20T16:15:28Z
dc.date.available2017-03-20T16:15:28Z
dc.date.issued2016
dc.identifier.citationHoyos, J., Prieto, F., Alenyà, G., Torras, C. Execution fault recovery in robot programming by demonstration using multiple models. "IEEE Latin America transactions", 2016, vol. 14, núm. 2, p. 517-523.
dc.identifier.issn1548-0992
dc.identifier.urihttp://hdl.handle.net/2117/102680
dc.description© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
dc.description.abstractDeformable object (e.g., clothes) manipulation by a robot in interaction with a human being presents several interesting challenges. Due to texture and deformability, the object can get hooked in the human limbs. Moreover, the human can change their limbs position and curvature, which require changes in the paths to be followed by the robot. To help solve these problems, in this paper we propose a technique of learning by demonstration able to adapt to changes in position and curvature of the object (human limb) and recover from execution faults (hooks). The technique is tested using simulations, but with data obtained from a real robot
dc.format.extent7 p.
dc.language.isoeng
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherintelligent robots
dc.subject.otherrobot programming
dc.subject.otherservice robots.
dc.titleExecution fault recovery in robot programming by demonstration using multiple models
dc.typeArticle
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.identifier.doi10.1109/TLA.2016.7437187
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.relation.publisherversionhttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7437187
dc.rights.accessOpen Access
local.identifier.drac18736619
dc.description.versionPostprint (author's final draft)
local.citation.authorHoyos, J.; Prieto, F.; Alenyà, G.; Torras, C.
local.citation.publicationNameIEEE Latin America transactions
local.citation.volume14
local.citation.number2
local.citation.startingPage517
local.citation.endingPage523


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