Origanti, Vamsi Krishna und Eiband, Thomas und Lee, Dongheui (2022) Automatic Parameterization of Motion and Force Controlled Robot Skills. In: 9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021, 429, Seiten 66-78. Springer. 9th International Conference on Robot Intelligence Technology and Applications (RiTA), 2021-12-16 - 2021-12-17, Daejeon, Republic of Korea. doi: 10.1007/978-3-030-97672-9_7. ISBN 978-3-030-97671-2. ISSN 2367-3370.
PDF
1MB |
Offizielle URL: https://link.springer.com/chapter/10.1007/978-3-030-97672-9_7
Kurzfassung
Compliant robot tasks such as grinding require a robot to use a specific control strategy and to consider a number of process parameters. It is demanding to program such behaviors from scratch. Therefore, so called contact skills can be employed that are pre-programmed control strategies, which are optimized for the intended task. With that level of abstraction, which is defining skills that are specific to the task, only the skill's parameters need to be identified and not the whole strategy to be implemented. In order to allow non-experts to transfer such complex behaviors to a robot, we present two different contact skills and how they are automatically parameterized by a human demonstration. This process learns the robot behavior in one shot while considering task goals, such as desired forces and motions. We evaluated our framework in the PyBullet physics simulator and showed that the parameterized skills follow the task goals while generalizing to changes in the environment.
elib-URL des Eintrags: | https://elib.dlr.de/147251/ | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Automatic Parameterization of Motion and Force Controlled Robot Skills | ||||||||||||||||
Autoren: |
| ||||||||||||||||
Datum: | 1 April 2022 | ||||||||||||||||
Erschienen in: | 9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
Band: | 429 | ||||||||||||||||
DOI: | 10.1007/978-3-030-97672-9_7 | ||||||||||||||||
Seitenbereich: | Seiten 66-78 | ||||||||||||||||
Verlag: | Springer | ||||||||||||||||
Name der Reihe: | Lecture Notes in Networks and Systems | ||||||||||||||||
ISSN: | 2367-3370 | ||||||||||||||||
ISBN: | 978-3-030-97671-2 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | skill, robot skill, contact skill, force-based skill, skill recognition, parameterization, parametrization, parameterisation, hybrid control, hybrid impedance-force control hybrid position-force control, hybrid motion-force control, Learning from Demonstration, Learning by Demonstration, skill templates | ||||||||||||||||
Veranstaltungstitel: | 9th International Conference on Robot Intelligence Technology and Applications (RiTA) | ||||||||||||||||
Veranstaltungsort: | Daejeon, Republic of Korea | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 16 Dezember 2021 | ||||||||||||||||
Veranstaltungsende: | 17 Dezember 2021 | ||||||||||||||||
Veranstalter : | Institute of Control, Robotics and Systems (ICROS), Seoul, Korea | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Autonome, lernende Roboter [RO], R - Interagierende Robotersteuerung [RO], R - Roboterdynamik & Simulation [RO], R - Intuitive Mensch-Roboter Schnittstelle [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Eiband, Thomas | ||||||||||||||||
Hinterlegt am: | 10 Dez 2021 15:49 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:45 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags