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Programming-by-Demonstration of Robot Motions

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Book cover Robot Intelligence

Part of the book series: Advanced Information and Knowledge Processing ((AI&KP))

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Abstract

In this chapter a novel approach to skill acquisition from human demonstration is presented. Usually the morphology of a robot manipulator is very different from the human arm and cannot simply copy a human motion. Instead the robot has to execute its own version of the skill demonstrated by the operator. Once a skill has been acquired by the robot it must also be able to generalize to other similar skills without starting a new learning process. By using a motion planner that operates in an object-related world-frame called hand-state, we show that this representation simplifies a skill reconstruction and preserves the essential parts of the skill.

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Acknowledgements

Johan Tegin at Mechatronics Laboratory, at the Royal Institute of Technology, Stockholm, should be acknowledged for providing access to the KTHand.

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Authors and Affiliations

    Authors
    1. Alexander Skoglund
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    2. Boyko Iliev
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    3. Rainer Palm
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    Corresponding author

    Correspondence to Alexander Skoglund .

    Editor information

    Editors and Affiliations

    1. School of Creative Technologies, The University of Portsmouth, Portsmouth, PO1 2DJ, United Kingdom

      Honghai Liu

    2. Department of Computer Science, University of Essex, Wivenhoe Park, United Kingdom

      Dongbing Gu

    3. , School of Engineering, University of Brighton, Moulsecoomb, Brighton, BN2 4GJ, United Kingdom

      Robert J. Howlett

    4. Department of Computer Science, University of Wales, Aberystwyth, SY23 3DB, United Kingdom

      Yonghuai Liu

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    © 2010 Springer-Verlag London Limited

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    Skoglund, A., Iliev, B., Palm, R. (2010). Programming-by-Demonstration of Robot Motions. In: Liu, H., Gu, D., Howlett, R., Liu, Y. (eds) Robot Intelligence. Advanced Information and Knowledge Processing. Springer, London. https://doi.org/10.1007/978-1-84996-329-9_1

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    • DOI: https://doi.org/10.1007/978-1-84996-329-9_1

    • Publisher Name: Springer, London

    • Print ISBN: 978-1-84996-328-2

    • Online ISBN: 978-1-84996-329-9

    • eBook Packages: Computer ScienceComputer Science (R0)

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