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Programming-by-demonstration of reaching motions: a next-state-planner approach
AASS Learning Systems Lab, Örebro Universitet, Örebro, Sweden.
Örebro University, School of Science and Technology. (AASS)
AASS Learning Systems Lab, Örebro Universitet, Örebro, Sweden. (AASS)
2010 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 58, no 5, p. 607-621Article in journal (Refereed) Published
Abstract [en]

This paper presents a novel approach to skill acquisition from human demonstration. A robot manipulator with a morphology which is very different from the human arm simply cannot copy a human motion, but has to execute its own version of the skill. When a skill once has been acquired the robot must also be able to generalize to other similar skills, without a new learning process. By using a motion planner that operates in an object-related world frame called hand-state, we show that this representation simplifies skill reconstruction and preserves the essential parts of the skill. (C) 2010 Elsevier B.V. All rights reserved.

Place, publisher, year, edition, pages
2010. Vol. 58, no 5, p. 607-621
Keywords [en]
Programming-by-Demonstration, Hand-state, Motion planner, Fuzzy modeling, Correspondence problem
National Category
Control Engineering
Research subject
Automatic Control
Identifiers
URN: urn:nbn:se:oru:diva-12948DOI: 10.1016/j.robot.2009.12.003ISI: 000277926200017OAI: oai:DiVA.org:oru-12948DiVA, id: diva2:383188
Available from: 2011-01-04 Created: 2011-01-03 Last updated: 2018-04-23Bibliographically approved

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Iliev, BoykoPalm, Rainer

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