Description
Book SynopsisRobot Programming by Demonstration explores user-friendly means of teaching new skills to robots. This book focuses on the two generic questions of what to imitate and how to imitate with the problem of the extraction of the essential features of a task and the determining of a way to reproduce these essential features in different situations.
Table of ContentsACKNOWLEDGMENT
INTRODUCTION
Contributions
Organization of the book
Review of Robot Programming by Demonstration (PBD)
Current state of the art in PbD
SYSTEM ARCHITECTURE
Illustration of the proposed probabilistic approach
Encoding of motion in a Gaussian Mixture Model (GMM)
Encoding of motion in Hidden Markov Model (HMM)
Reproduction through Gaussian Mixture Regression (GMR)
Reproduction by considering multiple constraints
Learning of model parameters
Reduction of dimensionality and latent space projection
Model selection and initialization
Regularization of GMM parameters
Use of prior information to speed up the learning process
Extension to mixture models of varying density distributions
Summary of the chapter
COMPARISON AND OPTIMIZATION OF THE PARAMETERS
Optimal reproduction of trajectories through HMM and GMM/GMR
Optimal latent space of motion
Optimal selection of the number of Gaussians
Robustness evaluation of the incremental learning process
HANDLING OF CONSTRAINTS IN JOINT SPACE AND TASK SPACE
Inverse kinematics
Handling of task constraints in joint spaceexperiment with industrial robot
Handling of task constraints in latent spaceexperiment with humanoid robot
EXTENSION TO DYNAMICAL SYSTEM AND HANDLING OF PERTURBATIONS
Proposed dynamical system
Influence of the dynamical system parameters
Experimental setup
Experimental results
TRANSFERRING SKILLS THROUGH ACTIVE TEACHING METHODS
Experimental setup
Experimental results
Roles of an active teaching scenario
USING SOCIAL CUES TO SPEED UP THE LEARNING PROCESS
Experimental setup
Experimental results
DISCUSSION, FUTURE WORK AND CONCLUSIONS
Advantages of the proposed approach
Failures and limitations of the proposed approach
Further issues
Final words
REFERENCES
INDEX
