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| Record Number | 1462 |
| Reference Type | Conference Proceedings |
| Author(s) | Billard, A.;Schaal, S. |
| Year | 2001 |
| Title | Robust learning of arm trajectories through human demonstration |
| Journal/Conference/Book Title | IEEE International Conference on Intelligent Robots and Systems (IROS 2001) |
| Keywords | imitation learning, movement primitives, humanoid robotics |
Abstract |
We present a model, composed of hierarchy of artificial neural networks, for robot learning by demonstration. The model is implemented in a dynamic simulation of a 41 degrees of freedom humanoid for reproducing 3D human motion of the arm. Results show that the model requires few information about the desired trajectory and learns on-line the relevant features of movement. It can generalize across a small set of data to produce a qualitatively good reproduction of the demonstrated trajectory. Finally, it is shown that reproduction of the trajectory after learning is robust against perturbations.
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| Notes | clmc |
| URL(s) | http://www-clmc.usc.edu/publications/B/billard-IROS2001.pdf
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| Place Published | Maui, Hawaii, Oct.29-Nov.3 |
| Publisher | Piscataway, NJ: IEEE |
| Short Title | Robust learning of arm trajectories through human 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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