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dc.contributorAranda López, Joan
dc.contributorAngulo Bahón, Cecilio
dc.contributor.authorPoc López, Ángel
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2020-07-02T09:53:40Z
dc.date.available2020-07-02T09:53:40Z
dc.date.issued2020-04-20
dc.identifier.urihttp://hdl.handle.net/2117/192255
dc.description.abstractThe objective of this thesis is to teach a Baxter robot to learn certain arm trajectories. The robot must be capable of generalizing the primitive movement of the trajectory to new unseen poses. The thesis is framed within a robotized kitchen project with aims to help people with mobility problems. To solve this problem end, a human will record demonstrations, which will be translated to the robots’ morphology using an Inverse Kinematics (IK) module. For the learning part Dynamic Movement Primitives (DMP) will be used, due to their capability to take profit of human experience. The proposed system works in the majority of the scenarios, but, it would be expected to behave better when generalizing to new orientations of the arm. However a proposal has been suggested to correct this issue.
dc.language.isoeng
dc.publisherUniversitat Politècnica de Catalunya
dc.subjectÀrees temàtiques de la UPC::Informàtica
dc.subject.lcshKinect (Programmable controller)
dc.subject.lcshRobotics
dc.subject.lcshComputer vision
dc.subject.otherLearning from Demonstration
dc.subject.otherImitation Learning
dc.subject.otherBaxter Research Robot
dc.subject.otherKinect
dc.subject.otherRobotics
dc.subject.otherLearning from Demonstration
dc.titleA Learning from demonstration approach for robot trajectories through motion-sensing human demonstrations
dc.typeMaster thesis
dc.subject.lemacKinect (Controlador programable)
dc.subject.lemacRobòtica
dc.subject.lemacVisió per ordinador
dc.identifier.slug147834
dc.rights.accessOpen Access
dc.date.updated2020-06-11T04:00:50Z
dc.audience.educationlevelMàster
dc.audience.mediatorFacultat d'Informàtica de Barcelona
dc.audience.degreeMÀSTER UNIVERSITARI EN INTEL·LIGÈNCIA ARTIFICIAL (Pla 2017)


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