Learning adaptive dressing assistance from human demonstration
| Autor: | Sylvain Calinon, Emmanuel Pignat |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry General Mathematics Programming by demonstration Kinesthetic learning 02 engineering and technology Human–robot interaction Computer Science Applications 020901 industrial engineering & automation Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Artificial intelligence Adaptation (computer science) Set (psychology) business Software |
| Zdroj: | Robotics and Autonomous Systems. 93:61-75 |
| ISSN: | 0921-8890 |
| Popis: | For tasks such as dressing assistance, robots should be able to adapt to different user morphologies, preferences and requirements. We propose a programming by demonstration method to efficiently learn and adapt such skills. Our method encodes sensory information (relative to the human user) and motor commands (relative to the robot actuation) as a joint distribution in a hidden semi-Markov model. The parameters of this model are learned from a set of demonstrations performed by a human. Each state of this model represents a sensorimotor pattern, whose sequencing can produce complex behaviors. This method, while remaining lightweight and simple, encodes both time-dependent and independent behaviors. It enables the sequencing of movement primitives in accordance to the current situation and user behavior. The approach is coupled with a task-parametrized model, allowing adaptation to different users morphologies, and with a minimal intervention controller, providing safe interaction with the user. We evaluate the approach through several simulated tasks and two different dressing scenarios with a bi-manual Baxter robot. Encoding of robotic assistance skills using hidden semi-Markov model.Sensorimotor patterns learned by kinesthetic teaching.Efficient generation of adaptive and reactive behaviors.Safe control strategy based on minimal intervention principle.Approach validated with multiple tasks oriented toward dressing assistance. |
| Databáze: | OpenAIRE |
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