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| Record Number | 10260 |
| Reference Type | Conference Proceedings |
| Author(s) | Pastor, P.;Hoffmann, H.;Asfour, T.;Schaal, S. |
| Year | 2009 |
| Title | Learning and generalization of motor skills by learning from demonstration |
| Journal/Conference/Book Title | International Conference on Robotics and Automation (ICRA2009) |
| Keywords | movement primitives, dynamic systems, obstacle avoidance, generalization, affordances |
Abstract |
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 a real robot. The
robot learned a pick-and-place operation and a water-serving
task and could generalize these tasks to novel situations.
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| Notes | clmc |
| URL(s) | http://www-clmc.usc.edu/publications/P/pastor-ICRA2009.pdf
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| Place Published | Kobe, Japan, May 12-19, 2009 |
| Short Title | Learning and generalization of motor skills by learning from demonstration |
| Papers are available as Adobe PDF ".pdf" files. Adobe Reader is available for free for all computer platforms.
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Page last modified on August 10, 2006, at 06:47 PM
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