Learning and Correcting Robot Trajectory Keypoints from a Single Demonstration
| Autor: | Thiusius Rajeeth Savarimuthu, Inigo Iturrate, Esben Hallundbaek Ostergaard, Martin Rytter |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Robot calibration business.industry Computer science 02 engineering and technology Robot learning Task (project management) 020901 industrial engineering & automation Ramer–Douglas–Peucker algorithm Line (geometry) 0202 electrical engineering electronic engineering information engineering Trajectory Benchmark (computing) Robot 020201 artificial intelligence & image processing Computer vision Artificial intelligence business |
| Zdroj: | Iturrate, I, Østergaard, E H, Rytter, M & Savarimuthu, T R 2017, Learning and Correcting Robot Trajectory Keypoints from a Single Demonstration . in Proceedings of the 3rd International Conference on Control, Automation and Robotics . IEEE, pp. 52-59, 3rd International Conference on Control, Automation and Robotics, Nagoya, Japan, 24/04/2017 . https://doi.org/10.1109/ICCAR.2017.7942660 |
| DOI: | 10.1109/ICCAR.2017.7942660 |
| Popis: | Kinesthetic teaching provides an accessible way for non-experts to quickly and easily program a robot system by demonstration. A crucial aspect of this technique is to obtain an accurate approximation of the robot’s intended trajectory for the task, while filtering out spurious aspects of the demonstration. While several methods to this end have been proposed, they either rely on several demonstrations or on the user explicitly indicating relevant trajectory waypoints. We propose a method, based on the Douglas-Peucker line simplification algorithm that is able to extract the notablepoints of a trajectory from a single demonstration. Additionally, by utilizing velocity information in the task space, the method is able to achieve a level of precision that is sufficient for industrial assembly tasks. Along with this, we present a user study that shows that our method enables non-expert robot users to successfully program the robot for an assembly benchmark, and that they find this method intuitive. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|