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A Hand State Approach to Imitation with a Next-State-Planner for Industrial Manipulators
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
2008 (English)In: Proceedings of the 2008 International Conference on Cognitive Systems, 2008, p. 130-137Conference paper, Published paper (Refereed)
Abstract [en]

 

In this paper we present an approach to reproduce human demonstrations in a reach-to-grasp context. The demonstration is represented in hand state space. By using the distance to the target object as a scheduling variable, the way in which the robot approaches the object is controlled. The controller that we deploy to execute the motion is formulated as a nextstateplanner. The planner produces an action from the current state instead of planning the whole trajectory in advance which can be error prone in non-static environments. The results have a direct application in Programming-by-Demonstration. It also contributes to cognitive systems since the ability to reach-tograsp supports the development of cognitive abilities.

 

Place, publisher, year, edition, pages
2008. p. 130-137
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-5160OAI: oai:DiVA.org:oru-5160DiVA, id: diva2:158070
Available from: 2009-02-24 Created: 2009-01-29 Last updated: 2018-01-13Bibliographically approved

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Skoglund, AlexanderIliev, BoykoPalm, Rainer

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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