Imitation in animals and artifacts
Imitation in animals and artifacts
Operational Space Control: A Theoretical and Empirical Comparison
International Journal of Robotics Research
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A biomimetic approach to inverse kinematics for a redundant robot arm
Autonomous Robots
Towards semantic segmentation of human motion sequences
KI'10 Proceedings of the 33rd annual German conference on Advances in artificial intelligence
Task-specific generalization of discrete and periodic dynamic movement primitives
IEEE Transactions on Robotics
Learning Non-linear Multivariate Dynamics of Motion in Robotic Manipulators
International Journal of Robotics Research
Learning parametric dynamic movement primitives from multiple demonstrations
ICONIP'10 Proceedings of the 17th international conference on Neural information processing: theory and algorithms - Volume Part I
Usability of force-based controllers in physical human-robot interaction
Proceedings of the 6th international conference on Human-robot interaction
Teaching a humanoid robot to draw `Shapes'
Autonomous Robots
Extracting data from human manipulation of objects towards improving autonomous robotic grasping
Robotics and Autonomous Systems
Interactive imitation learning of object movement skills
Autonomous Robots
Trajectories and keyframes for kinesthetic teaching: a human-robot interaction perspective
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
A nonparametric Bayesian approach toward robot learning by demonstration
Robotics and Autonomous Systems
Learning to pour with a robot arm combining goal and shape learning for dynamic movement primitives
Robotics and Autonomous Systems
On-line motion synthesis and adaptation using a trajectory database
Robotics and Autonomous Systems
A Novel Trajectory Generation Method for Robot Control
Journal of Intelligent and Robotic Systems
Learning and reasoning with action-related places for robust mobile manipulation
Journal of Artificial Intelligence Research
Dynamical movement primitives: Learning attractor models for motor behaviors
Neural Computation
From dynamic movement primitives to associative skill memories
Robotics and Autonomous Systems
Motion planning and reactive control on learnt skill manifolds
International Journal of Robotics Research
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We provide a general approach for learning robotic motor skills from human demonstration. To represent an observed movement, a non-linear differential equation is learned such that it reproduces this movement. Based on this representation, we build a library of movements by labeling each recorded movement according to task and context (e.g., grasping, placing, and releasing). Our differential equation is formulated such that generalization can be achieved simply by adapting a start and a goal parameter in the equation to the desired position values of a movement. For object manipulation, we present how our framework extends to the control of gripper orientation and finger position. The feasibility of our approach is demonstrated in simulation as well as on the Sarcos dextrous robot arm. The robot learned a pick-and-place operation and a water-serving task and could generalize these tasks to novel situations.