Lee, Dongheui und Ott, Christian (2011) Incremental Kinesthetic Teaching of Motion Primitives using the Refinement Tub. Autonomous Robots, 31 (2), Seiten 115-131. Springer.
Dieses Archiv kann nicht den Volltext zur Verfügung stellen.
Kurzfassung
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.
elib-URL des Eintrags: | https://elib.dlr.de/73490/ | ||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Zeitschriftenbeitrag | ||||||||||||
Titel: | Incremental Kinesthetic Teaching of Motion Primitives using the Refinement Tub | ||||||||||||
Autoren: |
| ||||||||||||
Datum: | 2011 | ||||||||||||
Erschienen in: | Autonomous Robots | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Nein | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Ja | ||||||||||||
In ISI Web of Science: | Ja | ||||||||||||
Band: | 31 | ||||||||||||
Seitenbereich: | Seiten 115-131 | ||||||||||||
Verlag: | Springer | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Programming by Demonstration · Imitation Learning, Physical Coaching, Incremental Learning, Motion Refinement Tube, Impedance Control | ||||||||||||
HGF - Forschungsbereich: | Verkehr und Weltraum (alt) | ||||||||||||
HGF - Programm: | Weltraum (alt) | ||||||||||||
HGF - Programmthema: | W SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Weltraum | ||||||||||||
DLR - Forschungsgebiet: | W SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | W - Leistungszentrum Robotik - Mechatronik und Telerobotik (alt) | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | ||||||||||||
Hinterlegt von: | Ott, Dr. Christian | ||||||||||||
Hinterlegt am: | 10 Jan 2012 09:07 | ||||||||||||
Letzte Änderung: | 06 Sep 2019 15:18 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags