Mostra el registre d'ítem simple

dc.contributor.authorRozo Castañeda, Leonel
dc.contributor.authorJiménez Schlegl, Pablo
dc.contributor.authorTorras, Carme
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2014-03-18T17:51:39Z
dc.date.available2014-03-18T17:51:39Z
dc.date.created2013
dc.date.issued2013
dc.identifier.citationRozo, L.; Schlegl, P.; Torras, C. A robot learning from demonstration framework to perform force-based manipulation tasks. "Intelligent Service Robotics", 2013, vol. 6, núm. 1, p. 33-51.
dc.identifier.issn1861-2776
dc.identifier.urihttp://hdl.handle.net/2117/22275
dc.description.abstractThis 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 force perceptions exclusively. Second, we propose to exploit haptic feedback both as a means for improving teacher demonstrations and as a human–robot interaction tool, establishing a bidirectional communication channel between the teacher and the robot, in contrast to the works using kinesthetic teaching. Third, we address the well-known what to imitate? problem from a different point of view, based on the mutual information between perceptions and actions. Lastly, the teacher’s demonstrations are encoded using a Hidden Markov Model, and the robot execution phase is developed by implementing a modified version of Gaussian Mixture Regression that uses implicit temporal information from the probabilistic model, needed when tackling tasks with ambiguous perceptions. Experimental results show that the robot is able to learn and reproduce two different manipulation tasks, with a performance comparable to the teacher’s one.
dc.format.extent19 p.
dc.language.isoeng
dc.publisherSpringer
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::Robòtica
dc.subject.lcshRobot learning
dc.subject.otherProgramming by demonstration · Imitation learning · Haptic perception · Mutual information · HMM · GMR · Robotic manipulation
dc.titleA robot learning from demonstration framework to perform force-based manipulation tasks
dc.typeArticle
dc.subject.lemacRobòtica
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.identifier.doi10.1007/s11370-012-0128-9
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.relation.publisherversionhttp://dx.doi.org/10.1007/s11370-012-0128-9
dc.rights.accessOpen Access
local.identifier.drac11248861
dc.description.versionPostprint (author’s final draft post-refereeing)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT
local.citation.authorRozo, L.; Schlegl, P.; Torras, C.
local.citation.publicationNameIntelligent Service Robotics
local.citation.volume6
local.citation.number1
local.citation.startingPage33
local.citation.endingPage51


Fitxers d'aquest items

Thumbnail

Aquest ítem apareix a les col·leccions següents

Mostra el registre d'ítem simple