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Programming-by-demonstration of reaching motions for robot grasping
Örebro University, School of Science and Technology. (AASS)
Mechatronics Laboratory, Machine Design, Royal Institute of Technology, Stockholm, Sweden.
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
2009 (English)In: ICAR 2009: 14th international conference on advanced robotics, vols 1-2, New York: IEEE conference proceedings, 2009, 1-7 p.Conference paper, (Refereed)
Abstract [en]

This paper presents a novel approach to skill modeling acquired from human demonstration. The approach is based on fuzzy modeling and is using a planner for generating corresponding robot trajectories. One of the main challenges stems from the morphological differences between human and robot hand/arm structure, which makes direct copying of human motions impossible in the general case. Thus, the planner works in hand state space, which is defined such that it is perception-invariant and valid for both human and robot hand. We show that this representation simplifies task reconstruction and preserves the essential parts of the task as well as the coordination between reaching and grasping motion. We also show how our approach can generalize observed trajectories based on multiple demonstrations and that the robot can match a demonstrated behavoir, despite morphological differences. To validate our approach we use a general-purpose robot manipulator equipped with an anthropomorphic three-fingered robot hand.

Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2009. 1-7 p.
Keyword [en]
Programming-by-Demonstration; Hand State; Motion Planner; Fuzzy Modeling; Correspondence Problem
National Category
Computer Science
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-8425ISI: 000270815500052Scopus ID: 2-s2.0-70449370067ISBN: 978-1-4244-4855-5 (print)OAI: oai:DiVA.org:oru-8425DiVA: diva2:274820
Conference
14th International Conference on Advanced Robotics, Munich, Germany, June 22-26, 2009
Available from: 2009-11-02 Created: 2009-11-02 Last updated: 2017-03-16Bibliographically approved

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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