TY - GEN
T1 - WMRA skill learning through segmentation of demonstration
AU - Yufeng, Yao
AU - Mingshan, Chi
AU - Yaxin, Liu
AU - Qilong, Du
AU - Zhaomin, Wang
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - In order to let the wheelchair mounted robotic arm (WMRA) be more intelligent and adaptable, aiming to offer simple and convenient assistance for the elders and disabilities to cope with the complex tasks in the daily life, we present a learning method based on robot learning from demonstration to solve the problem. This method adopts the Beta Process Autoregressive Hidden Markov Model to segment the demonstrations of related task, acquire the contained skills and recognize the repeated skills. After that, it uses the Dynamic Movement Primitives to adjust the related skill according to the given goal position, so as to replay the demonstrated task in a new environment. This learning framework was validated on a six-degree-of-freedom JACO robotic arm, performing the task of drinking water from the bottle through a straw.
AB - In order to let the wheelchair mounted robotic arm (WMRA) be more intelligent and adaptable, aiming to offer simple and convenient assistance for the elders and disabilities to cope with the complex tasks in the daily life, we present a learning method based on robot learning from demonstration to solve the problem. This method adopts the Beta Process Autoregressive Hidden Markov Model to segment the demonstrations of related task, acquire the contained skills and recognize the repeated skills. After that, it uses the Dynamic Movement Primitives to adjust the related skill according to the given goal position, so as to replay the demonstrated task in a new environment. This learning framework was validated on a six-degree-of-freedom JACO robotic arm, performing the task of drinking water from the bottle through a straw.
KW - Learning from Demonstration
KW - Skill Learning
KW - WMRA
UR - https://www.scopus.com/pages/publications/85050725963
U2 - 10.1109/ICARM.2017.8273220
DO - 10.1109/ICARM.2017.8273220
M3 - 会议稿件
AN - SCOPUS:85050725963
T3 - 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
SP - 540
EP - 545
BT - 2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017
Y2 - 27 August 2017 through 31 August 2017
ER -