Robot programming by demonstration (RbD) covers methods by which a robot learns new skills through human guidance. In this work, we take the perspective that the role of the teacher is more important than just being a...
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Robot programming by demonstration (RbD) covers methods by which a robot learns new skills through human guidance. In this work, we take the perspective that the role of the teacher is more important than just being a model of successful behaviour, and present a probabilistic framework for RbD which allows to extract incrementally the essential characteristics of a task described at a trajectory level. To demonstrate the feasibility of our approach, we present two experiments where manipulation skills are transferred to a humanoid robot by means of active teaching methods that put the human teacher in the loop of the robot's learning. The robot first observes the task performed by the user (through motion sensors) and the robot's skill is then refined progressively by embodying the robot and putting it through the motion (kinesthetic teaching).
Autism covers a large spectrum of disorders that affect the individual's way of interacting socially and is often revealed by the individual's lack of interest in gazing at human faces. Currently Autism is dia...
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Autism covers a large spectrum of disorders that affect the individual's way of interacting socially and is often revealed by the individual's lack of interest in gazing at human faces. Currently Autism is diagnosed in children no younger than 2 years old. This paper presents a new monitoring device, the WearCam, to help forming a diagnosis of this neurodevelopmental disorder at an earlier age than currently possible. The WearCam consists of a wireless camera located on the forefront of the child. The WearCam collects videos from the viewpoint of the child's head. Color detection, face detection and gaze detection are run on the data in order to locate the approximate gaze direction of the child and determine where her attention is drawn to (persons, objects, etc.). We report on early tests of the camera within normally developing children. Firstly the technical characteristics of the current prototype of the WearCam will be described. Afterwards the type of data collected with this device with young children will be shown.
This paper describes the DoF-Box, a modular, reconfigurable robot, used in Hands-on practicals of robotics taught to microengineering students. We present the hardware and software of the robots and describe the pedag...
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ISBN:
(纸本)9781424412631;1424412633
This paper describes the DoF-Box, a modular, reconfigurable robot, used in Hands-on practicals of robotics taught to microengineering students. We present the hardware and software of the robots and describe the pedagogical approach adopted in the practicals. This approach encourages the creativity and imagination of the students, while ensuring that the students put in practice fundamental laws of control they are taught in class. Some of the results, including particular design of robots, obtained by the students are also shown.
In this paper we combine kinesthetic demonstrations and dynamical systems to enable a humanoid robot to imitate constrained reaching gestures directed toward a target. Using a learning algorithm based on Gaussian mixt...
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ISBN:
(纸本)1424401992
In this paper we combine kinesthetic demonstrations and dynamical systems to enable a humanoid robot to imitate constrained reaching gestures directed toward a target. Using a learning algorithm based on Gaussian mixture regression, the task constraints are extracted from several demonstrations. Those constraints take the form of desired velocity profiles for the end-effector and joint angle variables, with associated covariance matrices describing the variations allowed around the desired profiles. Those constraints are then used to modulate a dynamical system which has the reaching target as attractor. This way, the reaching trajectory can be reshaped in order to satisfy the constraints of the task, while preserving the adaptability and robustness provided by the dynamical system. In particular, the system can adapt to changes in the initial conditions and to target displacements occurring during the movement execution. We first evaluate the potential of this method on experiments involving the Hoap3 humanoid robot putting an object into a box. We then show how a manipulation tasks can be executed as sequences of such constrained reaching movement. This is illustrated on a packaging task performed by the robot
This paper presents a prototype of 3 degrees-of-freedom articulated spine for the doll-shaped humanoid robot Robota. This work follows an approach that emphasizes the need for a high human-likeliness in both the exter...
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This paper presents a prototype of 3 degrees-of-freedom articulated spine for the doll-shaped humanoid robot Robota. This work follows an approach that emphasizes the need for a high human-likeliness in both the external features of the robot and in the kinematics of its motions to enhance human-robot interactions. The design of a spinal cord for our humanoid robot satisfies both criteria in providing offering a smooth human-like parallel means of bending forward and sideways
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