A robot learning from demonstration framework to perform force-based manipulation tasks
This paper proposes an end-to-end learning from demonstration framework for teaching
force-based manipulation tasks to robots. The strengths of this work are manyfold. First, we …
force-based manipulation tasks to robots. The strengths of this work are manyfold. First, we …
Learning compliant manipulation through kinesthetic and tactile human-robot interaction
K Kronander, A Billard - IEEE transactions on haptics, 2013 - ieeexplore.ieee.org
Robot Learning from Demonstration (RLfD) has been identified as a key element for making
robots useful in daily lives. A wide range of techniques has been proposed for deriving a …
robots useful in daily lives. A wide range of techniques has been proposed for deriving a …
Robot learning from demonstration of force-based tasks with multiple solution trajectories
A learning framework with a bidirectional communication channel is proposed, where a
human performs several demonstrations of a task using a haptic device (providing him/her …
human performs several demonstrations of a task using a haptic device (providing him/her …
Imitation learning of positional and force skills demonstrated via kinesthetic teaching and haptic input
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 …
setting is proposed. The method allows a robotic manipulator to learn to perform tasks that …
Imitation learning of human grasping skills from motion and force data
Imitation learning, also known as Programming by Demonstration, allows a non-expert user
to teach complex skills to a robot. While so far researchers focused on abstracting kinematic …
to teach complex skills to a robot. While so far researchers focused on abstracting kinematic …
Leveraging on a virtual environment for robot programming by demonstration
The Programming by Demonstration paradigm promises to reduce the complexity of robot
programming. Its aim is to let robot systems learn new behaviors from a human operator …
programming. Its aim is to let robot systems learn new behaviors from a human operator …
[HTML][HTML] Improving human robot collaboration through Force/Torque based learning for object manipulation
A Al-Yacoub, YC Zhao, W Eaton, YM Goh… - Robotics and Computer …, 2021 - Elsevier
Abstract Human–Robot Collaboration (HRC) is a term used to describe tasks in which robots
and humans work together to achieve a goal. Unlike traditional industrial robots …
and humans work together to achieve a goal. Unlike traditional industrial robots …
Force-based robot learning of pouring skills using parametric hidden markov models
Robot learning from demonstration faces new challenges when applied to tasks in which
forces play a key role. Pouring liquid from a bottle into a glass is one such task, where not …
forces play a key role. Pouring liquid from a bottle into a glass is one such task, where not …
Encoding multiple sensor data for robotic learning skills from multimodal demonstration
Learning a task such as pushing something, where the constraints of both position and force
have to be satisfied, is usually difficult for a collaborative robot. In this work, we propose a …
have to be satisfied, is usually difficult for a collaborative robot. In this work, we propose a …
Learning Force‐Relevant Skills from Human Demonstration
Many human manipulation skills are force relevant, such as opening a bottle cap and
assembling furniture. However, it is still a difficult task to endow a robot with these skills …
assembling furniture. However, it is still a difficult task to endow a robot with these skills …