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Learning haptic exploration schemes for adaptive task execution

Eiband, Thomas and Saveriano, Matteo and Lee, Dongheui (2019) Learning haptic exploration schemes for adaptive task execution. In: 2019 International Conference on Robotics and Automation, ICRA 2019. IEEE. International Conference on Robotics and Automation 2019, 2019-05-20 - 2019-05-24, Montreal, Canada. doi: 10.1109/ICRA.2019.8793934. ISBN 978-153866026-3. ISSN 10504729.

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Official URL: https://ieeexplore.ieee.org/document/8793934


The recent generation of compliant robots enables kinesthetic teaching of novel skills by human demonstration. This enables strategies to transfer tasks to the robot in a more intuitive way than conventional programming interfaces. Programming physical interactions can be achieved by manually guiding the robot to learn the behavior from the motion and force data. To let the robot react to changes in the environment, force sensing can be used to identify constraints and act accordingly. While autonomous exploration strategies in the whole workspace are time consuming, we propose a way to learn these schemes from human demonstrations in an object targeted manner. The presented teaching strategy and the learning framework allow to generate adaptive robot behaviors relying on the robot's sense of touch in a systematically changing environment. A generated behavior consists of a hierarchical representation of skills, where haptic exploration skills are used to touch the environment with the end effector, and relative manipulation skills, which are parameterized according to previous exploration events. The effectiveness of the approach has been proven in a manipulation task, where the adaptive task structure is able to generalize to unseen object locations. The robot autonomously manipulates objects without relying on visual feedback.

Item URL in elib:https://elib.dlr.de/127723/
Document Type:Conference or Workshop Item (Poster)
Title:Learning haptic exploration schemes for adaptive task execution
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Eiband, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-1074-9504UNSPECIFIED
Saveriano, MatteoUNSPECIFIEDhttps://orcid.org/0000-0002-9784-3973UNSPECIFIED
Lee, DongheuiUNSPECIFIEDhttps://orcid.org/0000-0003-1897-7664UNSPECIFIED
Journal or Publication Title:2019 International Conference on Robotics and Automation, ICRA 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Learning from Demonstration; Learning and Adaptive Systems; Force and Tactile Sensing; Contact based localization
Event Title:International Conference on Robotics and Automation 2019
Event Location:Montreal, Canada
Event Type:international Conference
Event Start Date:20 May 2019
Event End Date:24 May 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Intuitive Human-Robot Interface [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Eiband, Thomas
Deposited On:11 Jun 2019 11:39
Last Modified:24 Apr 2024 20:31

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