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Programming-by-Demonstration and Adaptation of Robot Skills by Fuzzy Time Modeling
Örebro University, School of Science and Technology. (AASS)
BAE Systems Bofors AB, Karlskoga, Sweden.
2014 (English)In: International Journal of Humanoid Robotics, ISSN 0219-8436, Vol. 11, no 1, article id 1450009Article in journal (Refereed) Published
Abstract [en]

Robot skills are motion or grasping primitives from which a complicated robot task consists. Skills can be directly learned and recognized by a technique named programming-bydemonstration. A human operator demonstrates a set of reference skills where his motions are recorded by a data-capturing system and modeled via fuzzy clustering and a Takagi–Sugeno modeling technique. The skill models use time instants as input and operator actions as outputs. In the recognition phase, the robot identi¯es the skill shown by the operator in a novel test demonstration. Finally, using the corresponding reference skill model the robot executes the recognized skill. Skill models can be updated online where drastic di®erences between learned and real world conditions are eliminated using the Broyden update formula. This method was extended for fuzzy models especially for time cluster models.

Place, publisher, year, edition, pages
Singapore: World Scientific, 2014. Vol. 11, no 1, article id 1450009
Keywords [en]
Fuzzy modeling, time clustering, robot skills, programming-by-demonstration
National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-34713DOI: 10.1142/S0219843614500091ISI: 000334602700007Scopus ID: 2-s2.0-84898453229OAI: oai:DiVA.org:oru-34713DiVA, id: diva2:711992
Note

Funding Agencies:

HANDLE project

European Communitys Seventh Framework Programme

Available from: 2014-04-12 Created: 2014-04-12 Last updated: 2021-03-29Bibliographically approved

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Palm, RainerIliev, Boyko

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CiteExportLink to record
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Citation style
  • apa
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Language
  • de-DE
  • en-GB
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  • nn-NO
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