A Task Learning Mechanism for the Telerobots

Luo J, Yang C, Li Q, Wang M (2019)
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 16(2): 1950009.

Zeitschriftenaufsatz | Veröffentlicht | Englisch
 
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Autor*in
Luo, Jing; Yang, Chenguang; Li, QiangUniBi ; Wang, Min
Abstract / Bemerkung
Telerobotic systems have attracted growing attention because of their superiority in the dangerous or unknown interaction tasks. It is very challenging to exploit such systems to implement complex tasks in an autonomous way. In this paper, we propose a task learning framework to represent the manipulation skill demonstrated by a remotely controlled robot. Gaussian mixture model is utilized to encode and parametrize the smooth task trajectory according to the observations from the demonstrations. After encoding the demonstrated trajectory, a new task trajectory is generated based on the variability information of the learned model. Experimental results have demonstrated the feasibility of the proposed method.
Stichworte
Telerobotic systems; Gaussian mixture model; Gaussian mixture; regression; task model; human-robot interaction
Erscheinungsjahr
2019
Zeitschriftentitel
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS
Band
16
Ausgabe
2
Art.-Nr.
1950009
ISSN
0219-8436
eISSN
1793-6942
Page URI
https://pub.uni-bielefeld.de/record/2936028

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Luo J, Yang C, Li Q, Wang M. A Task Learning Mechanism for the Telerobots. INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS. 2019;16(2): 1950009.
Luo, J., Yang, C., Li, Q., & Wang, M. (2019). A Task Learning Mechanism for the Telerobots. INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 16(2), 1950009. doi:10.1142/S0219843619500099
Luo, J., Yang, C., Li, Q., and Wang, M. (2019). A Task Learning Mechanism for the Telerobots. INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 16:1950009.
Luo, J., et al., 2019. A Task Learning Mechanism for the Telerobots. INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 16(2): 1950009.
J. Luo, et al., “A Task Learning Mechanism for the Telerobots”, INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, vol. 16, 2019, : 1950009.
Luo, J., Yang, C., Li, Q., Wang, M.: A Task Learning Mechanism for the Telerobots. INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS. 16, : 1950009 (2019).
Luo, Jing, Yang, Chenguang, Li, Qiang, and Wang, Min. “A Task Learning Mechanism for the Telerobots”. INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 16.2 (2019): 1950009.