文章基本信息

标题：Learning motion primitives from demonstration
本地全文：下载
作者：Mingshan Chi ; Yufeng Yao ; Yaxin Liu 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2017
卷号：9
期号：12
页码：1-13
DOI：10.1177/1687814017737260
语种：English
出版社：Sage Publications Ltd.
摘要：With the purpose to offer simple and convenient assistance for the elders with disabilities to take care of themselves in activities of daily living, we present a motion primitives learning method based on robot learning from demonstration to improve the intelligence and adaptability of the wheelchair-mounted robotic arm. This method adopts the beta process autoregressive hidden Markov model to segment the demonstrations of related task, acquire the contained motion primitives, and recognize the repeated motion primitives. After that, it adopts the dynamic movement primitives to adjust the related motion primitives according to the task instructions by the wheelchair-mounted robotic arm users, so as to replay the demonstrated task in a new environment. This learning framework is validated on a 6-degree-of-freedom JACO robotic arm, performing the tasks of drinking water from the bottle through a straw and pouring water from the bottle to the cup.
关键词：Assistive robot; wheelchair-mounted robotic arm; motion primitive; learning from demonstration; skill learning