Learning from demonstration: repetitive movements for autonomous service robotics
Learning from demonstration: repetitive movements for autonomous service robotics
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从演示中学习：自主服务机器人的重复运动
DOI：
10.1109/iros.2004.1389957
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发表时间：
2004
期刊：
影响因子：
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通讯作者：
Patrick van der Smagt
中科院分区：
文献类型：
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作者：
H. Urbanek;A. Albu;Patrick van der Smagt
本文提出了一种基于一个简单的中央振荡器学习和生成有节奏运动模式的方法。它可以用来为机器人系统生成循环运动，以解决复杂的任务。该系统以这样一种方式布局，即多个运动维度，或机器人的自由度，是相互独立的；因此，扩展到高维问题是很容易的。通过握住末端执行器来引导机器人，用户可以教简单的运动原语，为更复杂的任务奠定基础。每个运动原语在系统中使用振荡器和学习到的非线性映射相结合来表示。然后将这些原语最佳地组合成所提出问题的完整解决方案。采用A*全局搜索算法进行模拟退火，得到最优性。我们的方法在擦桌子的问题上得到了证明，但可以用于服务和家用机器人中的许多典型问题。
This paper presents a method for learning and generating rhythmic movement patterns based on a simple central oscillator. It can be used to generate cyclic movements for a robot system which has to solve complex tasks. The system is laid out in such a way that multiple motion dimensions, or degrees of freedom of the robot, are represented independent of each other; therefore, an extension to higher-dimensional problems is easily possible. Guiding the robot by holding its end-effector, the user teaches simple movement primitives forming the basis for a more complex task. Each movement primitive is represented in the system using an oscillator combined with a learned nonlinear mapping. These primitives are then optimally combined to a complete solution to the posed problem. Said optimality is obtained using simulated annealing with the A* global search algorithm. Our approach is demonstrated on the problem of wiping a table, but can be used for many typical problems in service and household robotics.