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Recognition and teaching of robot skills by fuzzy time-modeling
Örebro University, School of Science and Technology.
Örebro University, School of Science and Technology.
Örebro University, School of Science and Technology.
Örebro University, School of Science and Technology.ORCID iD: 0000-0002-9477-4044
2009 (English)In: 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, p. 7-12Conference paper, Published paper (Other academic)
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.

Place, publisher, year, edition, pages
Linz, Austria: Johannes Kepler university , 2009. p. 7-12
National Category
Control Engineering
Research subject
Automatic Control
Identifiers
URN: urn:nbn:se:oru:diva-19378ISI: 000279170600002Scopus ID: 2-s2.0-80053645996ISBN: 978-989-95079-6-8 (print)OAI: oai:DiVA.org:oru-19378DiVA, id: diva2:445693
Conference
Joint International-Fuzzy-Systems-Association World Congress/European-Society-Fuzzy-Logic-and-Technology Conference, Lisbon, Portugal, Jul 20-24
Available from: 2011-10-04 Created: 2011-10-04 Last updated: 2017-10-18Bibliographically approved

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Palm, RainerKadmiry, BourhaneIliev, BoykoDriankov, Dimiter

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • 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