Projekteja vuodessa
Abstrakti
This paper proposes a method to learn from human demonstration compliant contact motions, which take advantage of interaction forces between workpieces to align them, even when contact force may occur from different directions on different instances of reproduction. To manage the uncertainty in unstructured conditions, the motions learned with our method can be reproduced with an impedance controller. Learning from Demonstration is used because the planning of compliant motions in 3D is computationally intractable. The proposed method will learn an individual compliant motion, many of which can be combined to solve more complex tasks. The method is based on measuring simultaneously the direction of motion and the forces acting on the endeffector. From these measurements we construct a set of constraints for motion directions which, with correct compliance, result in the observed motion. Constraints from multiple demonstrations are projected into a 2D angular coordinate system where their intersection is determined to find a set of feasible desired directions, of which a single motion direction is chosen. The work is based on the assumption that movement in directions other than the desired direction is caused by interaction forces. Using this assumption, we infer the number of compliant axes and, if required, their directions. Experiments with a KUKA LWR4+ show that our method can successfully reproduce motions which require taking advantage of the environment.
Alkuperäiskieli  Englanti 

Otsikko  Proceedings of the 2017 IEEERAS 17th International Conference on Humanoid Robotics, HUMANOIDS 2017 
Kustantaja  IEEE 
Sivut  783790 
Sivumäärä  8 
Vuosikerta  Part F134101 
ISBN (elektroninen)  9781538646786 
DOI  pysyväislinkit  
Tila  Julkaistu  2017 
OKMjulkaisutyyppi  A4 Artikkeli konferenssijulkaisuussa 
Tapahtuma  IEEERAS International Conference on Humanoid Robotics  Birmingham, IsoBritannia Kesto: 15 marraskuuta 2017 → 17 marraskuuta 2017 Konferenssinumero: 17 
Conference
Conference  IEEERAS International Conference on Humanoid Robotics 

Lyhennettä  HUMANOIDS 
Maa  IsoBritannia 
Kaupunki  Birmingham 
Ajanjakso  15/11/2017 → 17/11/2017 
Sormenjälki
Sukella tutkimusaiheisiin 'A geometric approach for learning compliant motions from demonstration'. Ne muodostavat yhdessä ainutlaatuisen sormenjäljen.Projektit
 1 Päättynyt

Vedenalaisessa asennus ja purkutyössä yhteistyössä toimivien raskaiden hydrauslisten robottien ohjausjärjestelmän kehitystutkimus
Kyrki, V., Forsman, P., Hazara, M., Suomalainen, M. & Muthusamy, R.
01/01/2015 → 31/12/2018
Projekti: Academy of Finland: Other research funding