Learning movement primitive attractor goals and sequential skills from kinesthetic demonstrations
Learning movement primitive attractor goals and sequential skills from kinesthetic demonstrations
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DOI：
10.1016/j.robot.2015.07.005
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发表时间：
2015-12-01
影响因子：
4.3
通讯作者：
Peters, Jan
中科院分区：
文献类型：
--
作者：
Manschitz, Simon;Kober, Jens;Peters, Jan
我们提出了一种通过动觉教学学习顺序机器人技能的方法。在我们的工作中，寻找连续运动基元之间的转换被视为多类分类问题。我们展示了如何从手动分割和标记的示范中学习线性吸引子运动基元的目标参数，以及观察到的运动基元顺序如何有助于提高运动再现。通过将分类结果限制到序列的图形表示中的当前激活的运动基元及其可能的后继来实现改进，这也是从演示中学习的。使用Barrett WAM机器人进行了三个实验，验证了该方法的有效性。(C)2015爱思唯尔B.V.保留所有权利。
We present an approach for learning sequential robot skills through kinesthetic teaching. In our work, finding the transitions between consecutive movement primitives is treated as multiclass classification problem. We show how the goal parameters of linear attractor movement primitives can be learned from manually segmented and labeled demonstrations and how the observed movement primitive order can help to improve the movement reproduction. The improvement is achieved by restricting the classification result to the currently activated movement primitive and its possible successors in a graph representation of the sequence, which is also learned from the demonstrations. The approach is validated with three experiments using a Barrett WAM robot. (C) 2015 Elsevier B.V. All rights reserved.