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Recognition and teaching of robot skills by fuzzy time-modeling
Örebro universitet, Akademin för naturvetenskap och teknik.
Örebro universitet, Akademin för naturvetenskap och teknik.
Örebro universitet, Akademin för naturvetenskap och teknik.
Örebro universitet, Akademin för naturvetenskap och teknik.ORCID-id: 0000-0002-9477-4044
2009 (engelsk)Inngår i: Proceedings of the Joint 2009 international fuzzy systems association world congress and 2009 European society of fuzzy logic and technology conference / [ed] J. P. Carvalho, D. U. Kaymak, J. M. C. Sousa, Linz, Austria: Johannes Kepler university , 2009, s. 7-12Konferansepaper, Publicerat paper (Annet vitenskapelig)
Abstract [en]

Robot skills are low-level motion and/or grasping capabilities that constitute the basic building blocks from which tasks are built. Teaching and recognition of such skills can be done by Programming-by-Demonstration approach. A human operator demonstrates certain skills while his motions are recorded by a data-capturing device and modeled in our case via fuzzy clustering and Takagi-Sugeno modeling technique. The resulting skill models use the time as input and the operator's actions and reactions as outputs. Given a test skill by the human operator the robot control system recognizes the individual phases of skills and generates the type of skill shown by the operator.

sted, utgiver, år, opplag, sider
Linz, Austria: Johannes Kepler university , 2009. s. 7-12
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URN: urn:nbn:se:oru:diva-19378ISI: 000279170600002Scopus ID: 2-s2.0-80053645996ISBN: 978-989-95079-6-8 (tryckt)OAI: oai:DiVA.org:oru-19378DiVA, id: diva2:445693
Konferanse
Joint International-Fuzzy-Systems-Association World Congress/European-Society-Fuzzy-Logic-and-Technology Conference, Lisbon, Portugal, Jul 20-24
Tilgjengelig fra: 2011-10-04 Laget: 2011-10-04 Sist oppdatert: 2017-10-18bibliografisk kontrollert

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Palm, RainerKadmiry, BourhaneIliev, BoykoDriankov, Dimiter

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