Publication: Programming-by-demonstration and adaptation of robot skills by fuzzy-time-modeling
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2011-07
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IEEE
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Abstract
Complex robot tasks can be partitioned into motion
primitives or robot skills that can directly be learned and
recognized through Programming-by-Demonstration (PbD) by a
human operator who demonstrates a set of reference skills. Robot
motions are recorded by a data-capturing system and modeled
by a specific fuzzy clustering and modeling technique where
skill models use time instants as inputs and operator actions
as outputs. In the recognition phase the robot identifies the skill
shown by the operator in a novel test demonstration.
Skill models are updated online during the execution of skills
using the Broyden update formula. This method is extended for
fuzzy models especially for time cluster models. The updated
model is used for further executions of the same skill.
Description
Proceedings of: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiS 2011 MDCM), April 11-15, 2011, Paris (France)
Keywords
Programming-by-demonstrations, Robot skills, Fuzzy modeling, Broyden update
Bibliographic citation
2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS 2011): proceedings (pp. 18-25). IEEE, 2011