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ICRA
2009
IEEE

Learning and generalization of motor skills by learning from demonstration

10 years 1 months ago
Learning and generalization of motor skills by learning from demonstration
— We provide a general approach for learning robotic motor skills from human demonstration. To represent an observed movement, a non-linear differential equation is learned such that it reproduces this movement. Based on this representation, we build a library of movements by labeling each recorded movement according to task and context (e.g., grasping, placing, and releasing). Our differential equation is formulated such that generalization can be achieved simply by adapting a start and a goal parameter in the equation to the desired position values of a movement. For object manipulation, we present how our framework extends to the control of gripper orientation and finger position. The feasibility of our approach is demonstrated in simulation as well as on the Sarcos dextrous robot arm. The robot learned a pick-and-place operation and a water-serving task and could generalize these tasks to novel situations.
Peter Pastor, Heiko Hoffmann, Tamim Asfour, Stefan
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Peter Pastor, Heiko Hoffmann, Tamim Asfour, Stefan Schaal
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