Teaching robots the use of human tools from demonstration with non-dexterous end-effectors
Teaching robots the use of human tools from demonstration with non-dexterous end-effectors
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通过非灵巧末端执行器的演示，教机器人如何使用人类工具
DOI：
10.1109/humanoids.2015.7363586
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Mario Fritz
中科院分区：
文献类型：
--
作者：
Wenbin Li;Mario Fritz
像PR-2、Baxter和UBR-1这样的商用、经济实惠的通用机器人可以接管广泛的任务，或者在人机混合环境中协助人类工人。然而，这些机器人的末端执行器通常限于低成本，非灵巧的抓取器，这限制了应用场景。我们的目标是通过示范教这些机器人使用人类工具来增加它们的范围。我们提出了一种新颖而紧凑的人类工具使用模型，并提出了一种双夹持器策略，以取代不太广泛部署的灵巧手进行工具操作。特别是，我们提出了一种分层架构，将工具的使用嵌入到从演示中学习的框架中，在较高的层次上学习双臂协调的时间顺序，在较低的层次上学习多步执行的动态运动原语。该方法在百特研究机器人上进行了演示和评估，用于三种人类工具。
Commercial, affordable and general-purpose robots like the PR-2, Baxter and UBR-1 robots can take over a wide range of tasks or assist human workers in a mixed human-robot environment. However, end-effectors on these robots are usually restricted to low-cost, non-dexterous grippers which constrains the application scenarios. We aim at increasing their range by teaching such robots the use of human tools by demonstration. We present a novel and compact model for the use of human tools and propose a dual-gripper strategy in replacement of the much less widely deployed dexterous hand for tool manipulation. Especially, we propose a hierarchical architecture to embed tool use in a learning from demonstration framework, learning temporal order for dual-arm coordination at higher level and Dynamic Movement Primitives at lower level for a multi-step execution. The approach is demonstrated and evaluated on a Baxter research robot for three human tools.