Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서일홍 | - |
dc.date.accessioned | 2018-03-20T00:53:47Z | - |
dc.date.available | 2018-03-20T00:53:47Z | - |
dc.date.issued | 2013-03 | - |
dc.identifier.citation | 로봇학회논문지, 2013, 8(1), pp.20-28 | en_US |
dc.identifier.issn | 2287-3961 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | http://koreascience.or.kr/article/ArticleFullRecord.jsp?cn=KROBC7_2013_v8n1_20 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11754/49196 | - |
dc.description.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. | en_US |
dc.language.iso | ko_KR | en_US |
dc.publisher | 한국로봇학회 | en_US |
dc.subject | Bimanual Manipulation | en_US |
dc.subject | Imitation Learning | en_US |
dc.subject | Movement Primitives | en_US |
dc.title | 힘과 위치를 동시에 고려한 양팔 물체 조작 솜씨의 모방학습 | en_US |
dc.title.alternative | Imitation Learning of Bimanual Manipulation Skills Considering Both Position and Force Trajectory | en_US |
dc.type | Article | en_US |
dc.relation.no | 1 | - |
dc.relation.volume | 8 | - |
dc.identifier.doi | 10.7746/jkros.2013.8.1.020 | - |
dc.relation.page | 20-28 | - |
dc.relation.journal | 로봇학회 논문지 | - |
dc.contributor.googleauthor | 권우영 | - |
dc.contributor.googleauthor | 하대근 | - |
dc.contributor.googleauthor | 서일홍 | - |
dc.contributor.googleauthor | Kwon, WooYoung | - |
dc.contributor.googleauthor | Ha, Daegeun | - |
dc.contributor.googleauthor | Suh, IlHong | - |
dc.relation.code | 2012220695 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DEPARTMENT OF ELECTRONIC ENGINEERING | - |
dc.identifier.pid | ihsuh | - |
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