Robot learning of tool manipulation based on visual teaching with mitate expression

Robot learning of tool manipulation based on visual teaching with mitate expression
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基于模仿表达视觉教学的机器人工具操作学习

DOI:
10.1080/01691864.2021.1914724
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发表时间:
2021
期刊:
影响因子:
2
通讯作者:
Satonori Demura and Kimitoshi Yamazaki
Satonori Demura and Kimitoshi Yamazaki
中科院分区:
计算机科学4区
文献类型:
--
作者:
Kotaro Nagahama;Satonori Demura and Kimitoshi Yamazaki

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我们提出了一种新的方法,日常辅助机器人可以学习一个新的任务,从用户没有技术知识。该系统的灵感来自Mitate,即人类在不同环境中使用不同工具传达工具运动的能力。我们通过实验证实,该系统可以根据人类教师的在线指令学习手中物体的新轨迹,即使教师手中物体的先验知识不存在,并且该物体与操纵的物体不同。这些发现不仅在老年人或残疾人的机器人支持中是期望的,而且对于智能机器人系统也是有帮助的,以实现像人一样的鲁棒和多样化的运动学习。
We propose a novel method by which a daily assistive robot can learn a new task from a user with no technical knowledge. The system is inspired byMitate, the human capacity to communicate the movement of a tool using a different tool in a different environment. We confirmed experimentally that the system can learn a new trajectory of an object in the hand according to the online instruction by a human teacher, even if the prior knowledge about the object in the teacher's hand is not presented and the object is different from the manipulated object. These findings are not only desired in robotic support for elderly or handicapped people but also helpful for an intelligent robot system to enable human-like robust and diverse motion learning.
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