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Teaching by demonstration of robotic manipulators in non-stationary environments
Örebro University, Department of Technology. (AASS)
Örebro University, Department of Technology. (AASS)
Örebro University, Department of Technology. (AASS)
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0003-0217-9326
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2006 (English)In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) ,2006, IEEE, 2006, p. 4339-4341Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we propose a system consisting of a manipulator equipped with range sensors, that is instructed to follow a trajectory demonstrated by a human teacher wearing a motion capturing device. During the demonstration a three dimensional occupancy grid of the environment is built using the range sensor information and the trajectory. The demonstration is followed by an exploration phase, where the robot undergoes self-improvement of the task, during which the occupancy grid is used to avoid collisions. In parallel a reinforcement learning (RL) agent, biased by the demonstration, learns a point-to-point task policy. When changes occur in the workspace, both the occupancy grid and the learned policy will be updated online by the system.

Place, publisher, year, edition, pages
IEEE, 2006. p. 4339-4341
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4091OAI: oai:DiVA.org:oru-4091DiVA, id: diva2:138390
Conference
IEEE International Conference on Robotics and Automation, 2006, Orlando, Florida, May, 15-19, 2006
Available from: 2007-11-01 Created: 2007-11-01 Last updated: 2018-06-11Bibliographically approved

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Teaching by Demonstration of Robotic Manipulators in Non-Stationary Environments(907 kB)47 downloads
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Skoglund, AlexanderDuckett, TomIliev, BoykoLilienthal, Achim J.Palm, Rainer

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Total: 47 downloads
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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf