检索结果-内蒙古大学图书馆

Adaptation of manipulation skills in physical contact with the environment to reference force profiles

AUTONOMOUS ROBOTS 2015年第2期39卷 199-217页

作者： Abu-Dakka, Fares J. Nemec, Bojan Jorgensen, Jimmy A. Savarimuthu, Thiusius R. Kruger, Norbert Ude, Ales Jozef Stefan Inst Humanoid & Cognit Robot Lab Dept Automat Biocybernet & Robot Ljubljana Slovenia Univ Southern Denmark Maersk Mc Kinney Moller Inst Cognit Vis Lab Odense Denmark

We propose a new methodology for learning and adaption of manipulation skills that involve physical contact with the environment. Pure position control is unsuitable for such tasks because even small errors in the desired trajectory can cause significant deviations from the desired forces and torques. The proposed algorithm takes a reference Cartesian trajectory and force/torque profile as input and adapts the movement so that the resulting forces and torques match the reference profiles. The learning algorithm is based on dynamic movement primitives and quaternion representation of orientation, which provide a mathematical machinery for efficient and stable adaptation. Experimentally we show that the robot's performance can be significantly improved within a few iteration steps, compensating for vision and other errors that might arise during the execution of the task. We also show that our methodology is suitable both for robots with admittance and for robots with impedance control.

关键词： Skill learning and adaptation Manipulation and compliant assembly programming by demonstration Physical human-robot interaction

来源：评论

学校读者我要写书评

暂无评论

Learning of Planning Models for Dexterous Manipulation Based on Human demonstrations

引用

INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS 2012年第4期4卷 437-448页

作者： Jaekel, Rainer Schmidt-Rohr, Sven R. Ruehl, SteffenW. Kasper, Alexander Xue, Zhixing Dillmann, Ruediger Karlsruhe Inst Technol Inst Anthropomat D-76021 Karlsruhe Germany Karlsruhe Inst Technol Humanoids & Intelligence Syst Lab D-76021 Karlsruhe Germany FZI Forschungszentrum Informat D-76131 Karlsruhe Germany

In the human environment service robots have to be able to manipulate autonomously a large variety of objects in a workspace restricted by collisions with obstacles, self-collisions and task constraints. Planning enables the robot system to generalize predefined or learned manipulation knowledge to new environments. For dexterous manipulation tasks the manual definition of planning models is time-consuming and error-prone. In this work, planning models for dexterous tasks are learned based on multiple human demonstrations using a general feature space including automatically generated contact constraints, which are automatically relaxed to consider the correspondence problem. In order to execute the learned planning model with different objects, the contact location is transformed to given object geometry using morphing. The initial, overspecialized planning model is generalized using a previously described, parallelized optimization algorithm with the goal to find a maximal subset of task constraints, which admits a solution to a set of test problems. Experiments on two different, dexterous tasks show the applicability of the learning approach to dexterous manipulation tasks.

关键词： programming by demonstration Motion planning Machine learning

来源：评论

学校读者我要写书评

暂无评论

Observer path design by imitation of competing constraints for bearing only tracking

引用

TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES 2012年第Sup1期20卷 1160-1174页

作者： Gurcan, Ridvan Kartal, Mesut Istanbul Tech Univ Inst Informat Dept Satellite Commun & Remote Sensing TR-80626 Istanbul Turkey

In the bearing only tracking (BOT) problem the observer tries to estimate the position of the target. The observer maneuver is a requirement to guarantee the uniqueness of the estimation. Determining an observer maneuver for BOT is a difficult problem due to its nonlinear nature. This paper proposes a new method that combines the reference BOT scenarios as a priori knowledge with the incoming bearing measurements to obtain an observer maneuver in a generic optimization framework. The use of a priori knowledge makes the observer maneuver design more realistic. The maneuver recommendation process uses the imitation of competing constraints. In this paper, an approach called programming by demonstration is used to recommend a maneuver to the observer. Simulations show that a programming by demonstration framework manages the constraints successfully and generates realistic observer maneuvers.

关键词： Bearing only tracking observer maneuver recommendation Gaussian mixture regression programming by demonstration target tracking

来源：评论

学校读者我要写书评

暂无评论

Kinesthetic Guidance Utilizing DMP Synchronization and Assistive Virtual Fixtures for Progressive Automation

引用

ROBOTICA 2020年第10期38卷 1824-1841页

作者： Papageorgiou, Dimitrios Dimeas, Fotios Kastritsi, Theodora Doulgeri, Zoe Aristotle Univ Thessaloniki Dept Elect & Comp Engn Automat & Robot Lab Thessaloniki Greece

The progressive automation framework allows the seamless transition of a robot from kinesthetic guidance to autonomous operation mode during programming by demonstration of discrete motion tasks. This is achieved by the synergetic action of dynamic movement primitives (DMPs), virtual fixtures, and variable impedance control. The proposed DMPs encode the demonstrated trajectory and synchronize with the current demonstration from the user so that the reference generated motion follows the humans demonstration. The proposed virtual fixtures assist the user in repeating the learned kinematic behavior but allow penetration so that the user can make modifications to the learned trajectory if needed. The tracking error in combination with the interaction forces and torques is used by a variable stiffness strategy to adjust the progressive automation level and transition the leading role between the human and the robot. An energy tank approach is utilized to apply the designed controller and to prove the passivity of the overall control method. An experimental evaluation of the proposed framework is presented for a pick and place task and results show that the transition to autonomous mode is achieved in few demonstrations.

关键词： Physical human-robot interaction programming by demonstration Dynamic movement primitives Virtual fixtures

来源：评论

学校读者我要写书评

暂无评论

Smart hardware integration with advanced robot programming technologies for efficient reconfiguration of robot workcells

引用

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 2020年 66卷 101979-101979页

作者： Gaspar, Timotej Denisa, Miha Radanovic, Primoz Ridge, Barry Savarimuthu, T. Rajeeth Kramberger, Aljaz Priggemeyer, Marc Rossmann, Juergen Woergoetter, Florentin Ivanovska, Tatyana Parizi, Shahab Gosar, Ziga Kovac, Igor Ude, Aled Jozef Stefan Inst Dept Automat Biocybernet & Robot Humanoid & Cognit Robot Lab Jamova Cesta 39 Ljubljana 1000 Slovenia Univ Southern Denmark Maersk McKinney Moller Inst DK-5230 Odense M Denmark Rhein Westfal TH Aachen Inst Man Machine Interact Ahornstr 55 D-52074 Aachen Germany Georg August Univ Gottingen Bernstein Ctr Computat Neurosci Phys Inst 3 Friedrich Hund Pl D-37077 Gottingen Germany Blue Ocean Robot Niels Bohrs Alle 185 DK-5220 Odense SO Denmark Elvez Doo Ulica Antona Tomsica 35 Visnja Gora 1294 Slovenia Univ Ljubljana Fac Elect Engn Trzaska Cesta 25 Ljubljana 1000 Slovenia

The manufacturing industry is seeing an increase in demand for more custom-made, low-volume production. This type of production is rarely automated and is to a large extent still performed manually. To keep up with the competition and market demands, manufacturers will have to undertake the effort to automate such manufacturing processes. However, automating low-volume production is no small feat as the solution should be adaptable and future proof to unexpected changes in customers' demands. In this paper, we propose a reconfigurable robot workcell aimed at automating low-volume production. The developed workcell can adapt to the changes in manufacturing processes by employing a number of passive, reconfigurable hardware elements, supported by the ROS-based, modular control software. To further facilitate and expedite the setup process, we integrated intuitive, user-friendly robot programming methods with the available hardware. The system was evaluated by implementing five production processes from different manufacturing industries.

关键词： Reconfigurable manufacturing systems Passive reconfigurable hardware ROS programming by demonstration Industry 4.0

来源：评论

学校读者我要写书评

暂无评论

A friend for assisting handicapped people

引用

IEEE ROBOTICS & AUTOMATION MAGAZINE 2001年第1期8卷 57-65页

作者： Martens, C Ruchel, N Lang, O Ivlev, O Gräser, A Univ Bremen Inst Automat Dept Proc Automat & Robot D-28359 Bremen Germany Univ Groningen Dept Comp Sci NL-9700 AB Groningen Netherlands

The Semiautonomous Robotic System "FRIEND" consists of an electric wheelchair with a robotic arm and utilizes a speech interface.

关键词： rehabilitation robots speech-control interface redundant robots skill-based autonomous control programming by demonstration

来源：评论

学校读者我要写书评

暂无评论

Physics-based virtual reality for task learning and intelligent disassembly planning

引用

VIRTUAL REALITY 2011年第1期15卷 41-54页

作者： Aleotti, Jacopo Caselli, Stefano Univ Parma Dipartimento Ingn Informaz I-43100 Parma Italy

Physics-based simulation is increasingly important in virtual manufacturing for product assembly and disassembly operations. This work explores potential benefits of physics-based modeling for automatic learning of assembly tasks and for intelligent disassembly planning in desktop virtual reality. The paper shows how realistic physical animation of manipulation tasks can be exploited for learning sequential constraints from user demonstrations. In particular, a method is proposed where information about physical interaction is used to discover task precedences and to reason about task similarities. A second contribution of the paper is the application of physics-based modeling to the problem of disassembly sequence planning. A novel approach is described to find all physically admissible subassemblies in which a set of rigid objects can be disassembled. Moreover, efficient strategies are presented aimed at reducing the computational time required for automatic disassembly planning. The proposed strategies take into account precedence relations arising from user assembly demonstrations as well as geometrical clustering. A motion planning technique has also been developed to generate non-destructive disassembly paths in a query-based approach. Experiments have been performed in an interactive virtual environment including a dataglove and motion tracker that allows realistic object manipulation and grasping.

关键词： Virtual reality Disassembly planning Precedence graphs Physics-based animation programming by demonstration

来源：评论

学校读者我要写书评

暂无评论

Imitation Learning of Positional and Force Skills Demonstrated via Kinesthetic Teaching and Haptic Input

引用

ADVANCED ROBOTICS 2011年第5期25卷 581-603页

作者： Kormushev, Petar Calinon, Sylvain Caldwell, Darwin G. Italian Inst Technol Dept Adv Robot I-16163 Genoa Italy

A method to learn and reproduce robot force interactions in a human-robot interaction setting is proposed. The method allows a robotic manipulator to learn to perform tasks that require exerting forces on external objects by interacting with a human operator in an unstructured environment. This is achieved by learning two aspects of a task: positional and force profiles. The positional profile is obtained from task demonstrations via kinesthetic teaching. The force profile is obtained from additional demonstrations via a haptic device. A human teacher uses the haptic device to input the desired forces that the robot should exert on external objects during the task execution. The two profiles are encoded as a mixture of dynamical systems, which is used to reproduce the task satisfying both the positional and force profiles. An active control strategy based on task-space control with variable stiffness is then proposed to reproduce the skill. The method is demonstrated with two experiments in which the robot learns an ironing task and a door-opening task. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011

关键词： Imitation learning kinesthetic teaching programming by demonstration physical-human robot interaction haptics

来源：评论

学校读者我要写书评

暂无评论

Learning task-parameterized dynamic movement primitives using mixture of GMMs

引用

INTELLIGENT SERVICE ROBOTICS 2018年第1期11卷 61-78页

作者： Pervez, Affan Lee, Dongheui Tech Univ Munich Chair Automat Control Engn D-80333 Munich Germany

Task-parameterized skill learning aims at adaptive motion encoding to new situations. While existing approaches for task-parameterized skill learning have demonstrated good adaptation within the demonstrated region, the extrapolation problem of task-parameterized skills has not been investigated enough. In this work, with the aim of good adaptation not only within the demonstrated region but also outside of the region, we propose to combine a generative model with a dynamic movement primitive by formulating learning as a density estimation problem. Moreover, for efficient learning from relatively few demonstrations, we propose to augment training data with additional incomplete data. The proposed method is tested and compared with existing works in simulations and real robot experiments. Experimental results verified its generalization in the extrapolation region.

关键词： programming by demonstration Dynamic movement primitives Task-parameterized movement

来源：评论

学校读者我要写书评

暂无评论

WirelessSyncroVision: Wireless synchronization for industrial stereoscopic systems

引用

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2016年第5-8期82卷 909-919页

作者： Pinto, Andry Maykol Moreira, A. Paulo Costa, Paulo G. Univ Porto INESC TEC Rua Dr Roberto Frias P-4200465 Oporto Portugal Univ Porto Fac Engn Robot & Intelligent Syst Rua Dr Roberto Frias P-4200465 Oporto Portugal

The research proposes a novel technological solution for marker-based human motion capture called WirelessSyncroVision (WSV). The WSV is formed by two main modules: the visual node (WSV-V) which is based on a stereoscopic vision system and the marker node (WSV-M) that is constituted by a 6-DOF active marker. The solution synchronizes the acquisition of images in remote muti-cameras with the ON period of the active marker. This increases the robustness of the stereoscopic system to illumination changes, which is extremely relevant for programming industrial robotic-arms using a human demonstrator programming by demonstration (PbD). In addition, the research presents a robust method named Adaptive and Robust Synchronization (ARS), that is designed for temporal alignment of remote devices using a wireless network. The algorithm models the phase difference as a function of time, measuring the parameters that must be known to predict the synchronization instant between the active marker and the remote cameras. Results demonstrate that the ARS creates a balance between the real-time capability and the performance estimation of the phase difference. Therefore, this research proposes an elegant solution to synchronize image acquisition systems in real-time that is easy to implement with low operational costs;however, the major advantage of the WSV is related to its high level of flexibility since it can be extended toward to other devices besides the PbD, for instance, motion capture, motion analysis, and remote sensoring systems.

关键词： Real-time Remote cameras Trigger programming by demonstration

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：