Abstract
This paper proposes an interaction learning method suited for semi-autonomous robots that work with or assist a human partner. The method aims at generating a collaborative trajectory of the robot as a function of the current action of the human. The trajectory generation is based on action recognition and prediction of the human movement given intermittent observations of his/her positions under unknown speeds of execution; a problem typically found when using motion capture systems in occluded scenarios. Of particular interest, the ability to predict the human movement while observing the initial part of the trajectory, allows for faster robot reactions. The method is based on probabilistically modelling the coupling between human-robot movement primitives and eliminates the need of time-alignment of the training data while being scalable in relation to the number of tasks. We evaluated the method using a 7-DoF lightweight robot arm equipped with a 5-finger hand in a multi-task collaborative assembly experiment, also comparing results with our previous method based on time-aligned trajectories.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
The interested reader is referred to our previous works for additional and detailed literature review in respect to their corresponding contributions.
- 2.
Although not used in this paper, the ProMP framework also provides means to compute the feedback controller and the interested reader is referred to [15].
References
Ben Amor, H., Neumann, G., Kamthe, S., Kroemer, O., Peters, J.: Interaction primitives for human-robot cooperation tasks. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (2014)
Calinon, S., Sauser, E.L., Billard, A.G., Caldwell, D.G.: Evaluation of a probabilistic approach to learn and reproduce gestures by imitation. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2671–2676 (2010)
Calinon, S., Li, Z., Alizadeh, T., Tsagarakis, N.G., Caldwell, D.G.: Statistical dynamical systems for skills acquisition in humanoids. In: Proceedings of the IEEE/RAS International Conference on Humanoids Robots (HUMANOIDS), pp. 323–329 (2012)
Coates, A., Abbeel, P., Ng, A.Y.: Learning for control from multiple demonstrations. In: Proceedings of the 25th International Conference on Machine Learning (ICML), pp. 144–151. ACM (2008)
Englert, P., Toussaint, M.: Reactive phase and task space adaptation for robust motion execution. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 109–116 (2014)
Ewerton, M., Maeda, G., Peters, J., Neumann, G.: Learning motor skills from partially observed movements executed at different speeds. In: Accepted: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2015)
Ewerton, M., Neumann, G., Lioutikov, R., Ben Amor, H., Peters, J., Maeda, G.: Learning multiple collaborative tasks with a mixture of interaction primitives. In: Proceedings of the International Conference on Robotics and Automation (ICRA), pp. 1535–1542 (2015)
Ijspeert, A.J., Nakanishi, J., Hoffmann, H., Pastor, P., Schaal, S.: Dynamical movement primitives: learning attractor models for motor behaviors. Neural Comput. 25(2), 328–373 (2013)
Kim, S., Gribovskaya, E., Billard, A.: Learning motion dynamics to catch a moving object. In: Proceedings of the IEEE/RAS International Conference on Humanoids Robots (HUMANOIDS), pp. 106–111 (2010)
Kim, S., Shukla, A., Billard, A.: Catching objects in flight. IEEE Transactions on Robotics (TRO) 30 (2014)
Koppula, H.S., Saxena, A.: Anticipating human activities using object affordances for reactive robotic response. In: Robotics: Science and Systems (2013)
Lee, D., Ott, C., Nakamura, Y.: Mimetic communication model with compliant physical contact in human-humanoid interaction. Int. J. Robot. Res. 29(13), 1684–1704 (2010)
Maeda, G., Ewerton, M., Lioutikov, R., Ben Amor, H., Peters, J., Neumann, G.: Learning interaction for collaborative tasks with probabilistic movement primitives. In: Proceedings of the International Conference on Humanoid Robots (HUMANOIDS), pp. 527–534 (2014)
Mainprice, J., Berenson, D.: Human-robot collaborative manipulation planning using early prediction of human motion. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 299–306. IEEE (2013)
Paraschos, A., Daniel, C., Peters, J., Neumann, G.: Probabilistic movement primitives. In: Advances in Neural Information Processing Systems (NIPS), pp. 2616–2624 (2013)
Sakoe, H., Chiba, S.: Dynamic programming algorithm optimization for spoken word recognition. IEEE Trans. Acoust. Speech Signal Process. 26(1), 43–49 (1978)
Schaal, S.: Is imitation learning the route to humanoid robots? Trends Cogn. Sci. 3(6), 233–242 (1999)
Tanaka, Y., Kinugawa, J., Sugahara, Y., Kosuge, K.: Motion planning with worker’s trajectory prediction for assembly task partner robot. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1525–1532. IEEE (2012)
Van Den Berg, J., Miller, S., Duckworth, D., Hu, H., Wan, A., Fu, X., Goldberg, K., Abbeel, P.: Superhuman performance of surgical tasks by robots using iterative learning from human-guided demonstrations. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2074–2081 (2010)
Vuga, R., Nemec, B., Ude, A.: Speed profile optimization through directed explorative learning. In: Proceedings of the IEEE/RAS International Conference on Humanoids Robots (HUMANOIDS), pp. 547–553. IEEE (2014)
Yamane, K., Revfi, M., Asfour, T.: Synthesizing object receiving motions of humanoid robots with human motion database. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 1629–1636. IEEE (2013)
Acknowledgements
The research leading to these results has received funding from the European Community’s Seventh Framework Programmes (FP7-ICT-2013-10) under grant agreement 610878 (3rdHand) and (FP7-ICT-2009-6) under grant agreement 270327 (ComPLACS); and from the project BIMROB of the Forum für interdisziplinäre Forschung (FiF) of the TU Darmstadt.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this chapter
Cite this chapter
Maeda, G., Neumann, G., Ewerton, M., Lioutikov, R., Peters, J. (2018). A Probabilistic Framework for Semi-autonomous Robots Based on Interaction Primitives with Phase Estimation. In: Bicchi, A., Burgard, W. (eds) Robotics Research. Springer Proceedings in Advanced Robotics, vol 3. Springer, Cham. https://doi.org/10.1007/978-3-319-60916-4_15
Download citation
DOI: https://doi.org/10.1007/978-3-319-60916-4_15
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-60915-7
Online ISBN: 978-3-319-60916-4
eBook Packages: EngineeringEngineering (R0)