Incremental Kinesthetic Teaching of Motion Primitives using the Refinement Tub
Lee, Dongheui and Ott, Christian (2011) Incremental Kinesthetic Teaching of Motion Primitives using the Refinement Tub. Autonomous Robots, 31 (2), pp. 115-131.
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We present an approach for kinesthetic teaching of motion primitives for a humanoid robot. The proposed teaching method starts with observational learning and applies iterative kinesthetic motion refinement using a forgetting factor. Kinesthetic teaching is supported by introducing the motion refinement tube, which represents an area of allowed motion refinement around the nominal trajectory. On the realtime control level, the kinesthetic teaching is handled by a customized impedance controller, which combines tracking performance with compliant physical interaction and allows to implement soft boundaries for the motion refinement. A novel method for continuous generation of motions from a hidden Markov model (HMM) representation of motion primitives is proposed, which incorporates time information for each state. The proposed methods were implemented and tested using DLR’s humanoid upper-body robot Justin.
|Title:||Incremental Kinesthetic Teaching of Motion Primitives using the Refinement Tub|
|Journal or Publication Title:||Autonomous Robots|
|In ISI Web of Science:||Yes|
|Page Range:||pp. 115-131|
|Keywords:||Programming by Demonstration · Imitation Learning, Physical Coaching, Incremental Learning, Motion Refinement Tube, Impedance Control|
|HGF - Research field:||Aeronautics, Space and Transport|
|HGF - Program:||Space|
|HGF - Program Themes:||W SY - Technik für Raumfahrtsysteme|
|DLR - Research area:||Space|
|DLR - Program:||W SY - Technik für Raumfahrtsysteme|
|DLR - Research theme (Project):||W - Leistungszentrum Robotik - Mechatronik und Telerobotik|
|Institutes and Institutions:||Institute of Robotics and Mechatronics > Robotic Systems|
|Deposited By:||Christian Ott|
|Deposited On:||10 Jan 2012 09:07|
|Last Modified:||04 Apr 2013 16:34|
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