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Execution fault recovery in robot programming by demonstration using multiple models
dc.contributor.author | Hoyos, Jose |
dc.contributor.author | Prieto, Flavio |
dc.contributor.author | Alenyà Ribas, Guillem |
dc.contributor.author | Torras, Carme |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2017-03-20T16:15:28Z |
dc.date.available | 2017-03-20T16:15:28Z |
dc.date.issued | 2016 |
dc.identifier.citation | Hoyos, 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.issn | 1548-0992 |
dc.identifier.uri | http://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.abstract | Deformable 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.extent | 7 p. |
dc.language.iso | eng |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.other | intelligent robots |
dc.subject.other | robot programming |
dc.subject.other | service robots. |
dc.title | Execution fault recovery in robot programming by demonstration using multiple models |
dc.type | Article |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1109/TLA.2016.7437187 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.relation.publisherversion | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7437187 |
dc.rights.access | Open Access |
local.identifier.drac | 18736619 |
dc.description.version | Postprint (author's final draft) |
local.citation.author | Hoyos, J.; Prieto, F.; Alenyà, G.; Torras, C. |
local.citation.publicationName | IEEE Latin America transactions |
local.citation.volume | 14 |
local.citation.number | 2 |
local.citation.startingPage | 517 |
local.citation.endingPage | 523 |
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