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dc.contributor.authorPardo Ayala, Diego Esteban
dc.contributor.authorRozo Castañeda, Leonel
dc.contributor.authorAlenyà Ribas, Guillem
dc.contributor.authorTorras, Carme
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial
dc.date.accessioned2013-01-21T17:15:49Z
dc.date.available2013-01-21T17:15:49Z
dc.date.created2012
dc.date.issued2012
dc.identifier.citationPardo, D.E. [et al.]. Dynamically consistent probabilistic model for robot motion learning. A: Workshop on Learning and Interaction in Haptic Robots. "Proceedings of the IROS'2012 Workshop on Learning and Interaction in Haptic Robots". Algarve: 2012, p. 1-2.
dc.identifier.urihttp://hdl.handle.net/2117/17450
dc.description.abstractThis 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 a consistent representation of the dynamics of the task. The learning framework is based on hidden Markov models and Gaussian mixture regression, used for coding and reproducing the skills. Benefits of the proposed approach are shown in the execution of a simple self-crossing trajectory by a 7-DoF manipulator.
dc.format.extent2 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Intel·ligència artificial::Representació del coneixement
dc.subject.lcshInterlibrary loan
dc.subject.otherlearning (artificial intelligence) manipulators robot dynamics PARAULES AUTOR: learning from demonstration
dc.subject.otherkinesthetic teaching
dc.subject.otherGaussian mixture regression (GMR)
dc.subject.otherhidden Markov models (HMM)
dc.titleDynamically consistent probabilistic model for robot motion learning
dc.typeConference report
dc.subject.lemacPréstec interbibliotecari
dc.contributor.groupUniversitat Politècnica de Catalunya. GREC - Grup de Recerca en Enginyeria del Coneixement
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.subject.inspecClassificació INSPEC::Automation::Robots::Intelligent robots
dc.relation.publisherversionhttp://www.iit.it/images/stories/advanced-robotics/Workshops/Iros_2012/Pardo-IROS2012WS.pdf
dc.rights.accessOpen Access
drac.iddocument11211290
dc.description.versionPreprint
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/288233/EU/European Robotic Surgery/EUROSURGE
upcommons.citation.authorPardo, D.E.; Rozo, L.; Alenyà, G.; Torras, C.
upcommons.citation.contributorWorkshop on Learning and Interaction in Haptic Robots
upcommons.citation.pubplaceAlgarve
upcommons.citation.publishedtrue
upcommons.citation.publicationNameProceedings of the IROS'2012 Workshop on Learning and Interaction in Haptic Robots
upcommons.citation.startingPage1
upcommons.citation.endingPage2


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