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Learning in-contact control strategies from demonstration
School of Electrical Engineering, Aalto University, Finland.
Intelligent Autonomous Systems (IAS) and Computational Learning for Autonomous Systems (CLAS) labs at TU Darmstadt.
University of Skövde, School of Informatics. University of Skövde, The Informatics Research Centre. (Interaction Lab)
School of Electrical Engineering, Aalto University, Finland.
2016 (English)In: IROS 2016: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2016, 688-695 p.Conference paper (Refereed)
Abstract [en]

Learning to perform tasks like pulling a door handle or pushing a button, inherently easy for a human, can be surprisingly difficult for a robot. A crucial problem in these kinds of in-contact tasks is the context specificity of pose and force requirements. In this paper, a robot learns in-contact tasks from human kinesthetic demonstrations. To address the need to balance between the position and force constraints, we propose a model based on the hidden semi-Markov model (HSMM) and Cartesian impedance control. The model captures uncertainty over time and space and allows the robot to smoothly satisfy a task's position and force constraints by online modulation of impedance controller stiffness according to the HSMM state belief. In experiments, a KUKA LWR 4+ robotic arm equipped with a force/torque sensor at the wrist successfully learns from human demonstrations how to pull a door handle and push a button.

Place, publisher, year, edition, pages
IEEE, 2016. 688-695 p.
Series
Proceedings of the International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Robotics
Identifiers
URN: urn:nbn:se:his:diva-13319DOI: 10.1109/IROS.2016.7759127ISI: 000391921700101ScopusID: 2-s2.0-85006511822ISBN: 978-1-5090-3762-9 (electronic)OAI: oai:DiVA.org:his-13319DiVA: diva2:1066449
Conference
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, South Korea, 9-14 October, 2016
Available from: 2017-01-18 Created: 2017-01-18 Last updated: 2017-03-08Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf