A framework for robotic clothing assistance by imitation learning
A framework for robotic clothing assistance by imitation learning
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DOI：
10.1080/01691864.2019.1636715
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发表时间：
2019-07-10
影响因子：
2
通讯作者：
Shibata, T.
中科院分区：
文献类型：
--
作者：
Joshi, R. P.;Koganti, N.;Shibata, T.
发达国家最近的人口趋势显示，老龄化人口急剧增加，生育率下降，照顾者短缺。因此，对服务机器人帮助穿衣这一日常生活中必不可少的活动的需求正在迅速增长。机器人服装辅助是一项具有挑战性的任务，因为机器人必须同时处理两项要求苛刻的任务，(A)非刚性和高度灵活的布料操作和(B)安全的人与机器人交互，同时帮助在任务过程中姿势可能变化的人类。另一方面，人类可以相当容易地处理这些任务。在本文中，我们提出了一种通过模仿学习从人类演示到柔顺双臂机器人的机器人服装辅助框架。在这个框架中，我们将穿衣任务分为三个阶段，即到达阶段、手臂穿衣阶段和身体穿衣阶段。我们使用动态运动基元(DMP)将手臂穿衣阶段建模为全局轨迹修改，而身体穿衣阶段则使用贝叶斯-高斯过程潜变量模型(BGPLVM)将身体穿衣阶段建模为局部轨迹修改。我们表明，为帮助老年人而开发的拟议框架可以推广到不同的人，并成功地完成了无袖衬衫穿衣任务。我们还向与会者展示了在2017年国际机器人展览会(IREX)上公开演示的反馈。据我们所知，这是第一个使用类人机器人在人类受试者身上完整穿着无袖衬衫的作品。
The recent demographic trend across developed nations shows a dramatic increase in the aging population, fallen fertility rates and a shortage of caregivers. Hence, the demand for service robots to assist with dressing which is an essential Activity of Daily Living (ADL) is increasing rapidly. Robotic Clothing Assistance is a challenging task since the robot has to deal with two demanding tasks simultaneously, (a) non-rigid and highly flexible cloth manipulation and (b) safe human-robot interaction while assisting humans whose posture may vary during the task. On the other hand, humans can deal with these tasks rather easily. In this paper, we propose a framework for robotic clothing assistance by imitation learning from a human demonstration to a compliant dual-arm robot. In this framework, we divide the dressing task into three phases, i.e. reaching phase, arm dressing phase, and body dressing phase. We model the arm dressing phase as a global trajectory modification using Dynamic Movement Primitives (DMP), while we model the body dressing phase toward a local trajectory modification applying Bayesian Gaussian Process Latent Variable Model (BGPLVM). We show that the proposed framework developed towards assisting the elderly is generalizable to various people and successfully performs a sleeveless shirt dressing task. We also present participants feedback on public demonstration at the International Robot Exhibition (iREX) 2017. To our knowledge, this is the first work performing a full dressing of a sleeveless shirt on a human subject with a humanoid robot.