Combining Dynamical Systems Control and Programming by Demonstration for Teaching Discrete Bimanual Coordination Tasks to a Humanoid Robot

We present a generic framework that combines Dynamical Systems movement control with Programming by Demon- stration (PbD) to teach a robot bimanual coordination task. The model consists of two systems: a learning system that processes data collected during the demonstration of the task to extract coordination constraints and a motor system that reproduces the movements dynamically, while satisfy- ing the coordination constraints learned by the ¯rst system. We validate the model through a series of experiments in which a robot is taught bimanual manipulatory tasks with the help of a human.


Publié dans:
Proceedings of 3rd ACM/IEEE International Conference on Human-Robot Interaction, HRI'08, Amsterdam, March 12-15 2008
Présenté à:
IEEE/ASM International Conference on Human-Robot Interaction, Amsterdam, Netherlands
Année
2008
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 Notice créée le 2007-11-14, modifiée le 2018-03-17

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