Sökning: WFRF:(Montebelli Alberto)
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Learning in-contact...
Learning in-contact control strategies from demonstration
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- Racca, Mattia (författare)
- School of Electrical Engineering, Aalto University, Finland
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- Pajarinen, Joni (författare)
- Intelligent Autonomous Systems (IAS) and Computational Learning for Autonomous Systems (CLAS) labs at TU Darmstadt
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- Montebelli, Alberto (författare)
- Högskolan i Skövde,Institutionen för informationsteknologi,Forskningscentrum för Informationsteknologi,Interaction Lab
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- Kyrki, Ville (författare)
- School of Electrical Engineering, Aalto University, Finland
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(creator_code:org_t)
- IEEE, 2016
- 2016
- Engelska.
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Ingår i: IROS 2016. - : IEEE. - 9781509037629 ; , s. 688-695
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- Learning to perform tasks like pulling a door handle or pushing a button, inherently easy for a human, can be surprisingly difficult for a robot. A crucial problem in these kinds of in-contact tasks is the context specificity of pose and force requirements. In this paper, a robot learns in-contact tasks from human kinesthetic demonstrations. To address the need to balance between the position and force constraints, we propose a model based on the hidden semi-Markov model (HSMM) and Cartesian impedance control. The model captures uncertainty over time and space and allows the robot to smoothly satisfy a task's position and force constraints by online modulation of impedance controller stiffness according to the HSMM state belief. In experiments, a KUKA LWR 4+ robotic arm equipped with a force/torque sensor at the wrist successfully learns from human demonstrations how to pull a door handle and push a button.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Nyckelord
- Interaction Lab (ILAB)
- Interaction Lab (ILAB)
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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