힘과 위치를 동시에 고려한 양팔 물체 조작 솜씨의 모방학습
- Title
- 힘과 위치를 동시에 고려한 양팔 물체 조작 솜씨의 모방학습
- Other Titles
- Imitation Learning of Bimanual Manipulation Skills Considering Both Position and Force Trajectory
- Author
- 서일홍
- Keywords
- Bimanual Manipulation; Imitation Learning; Movement Primitives
- Issue Date
- 2013-03
- Publisher
- 한국로봇학회
- Citation
- 로봇학회논문지, 2013, 8(1), pp.20-28
- Abstract
- Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.
- URI
- http://koreascience.or.kr/article/ArticleFullRecord.jsp?cn=KROBC7_2013_v8n1_20http://hdl.handle.net/20.500.11754/49196
- ISSN
- 2287-3961; 1975-6291
- DOI
- 10.7746/jkros.2013.8.1.020
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRONIC ENGINEERING(융합전자공학부) > Articles
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