D. Ehlers, M. Suomalainen, J. Lundell and V. Kyrki, "Imitating Human Search Strategies for Assembly," 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019, pp. 7821-7827. doi: 10.1109/ICRA.2019.8793780
Imitating human search strategies for assembly
|Author:||Ehlers, Dennis1; Suomalainen, Markku1,2; Lundell, Jens1;|
1School of Electrical Engineering, Aalto University, Finland
2University of Oulu, Finland
|Online Access:||PDF Full Text (PDF, 3.3 MB)|
|Persistent link:|| http://urn.fi/urn:nbn:fi-fe2019081924648
Institute of Electrical and Electronics Engineers,
|Publish Date:|| 2019-08-19
We present a Learning from Demonstration method for teaching robots to perform search strategies imitated from humans in scenarios where alignment tasks fail due to position uncertainty. The method utilizes human demonstrations to learn both a state invariant dynamics model and an exploration distribution that captures the search area covered by the demonstrator. We present two alternative algorithms for computing a search trajectory from the exploration distribution, one based on sampling and another based on deterministic ergodic control. We augment the search trajectory with forces learnt through the dynamics model to enable searching both in force and position domains. An impedance controller with superposed forces is used for reproducing the learnt strategy. We experimentally evaluate the method on a KUKA LWR4+ performing a 2D peg-in-hole and a 3D electricity socket task. Results show that the proposed method can, with only few human demonstrations, learn to complete the search task.
IEEE International Conference on Robotics and Automation
|Pages:||7821 - 7827|
2019 International Conference on Robotics and Automation (ICRA). 20-24 May 2019, Montreal, Canada
International Conference on Robotics and Automation
|Type of Publication:||
A4 Article in conference proceedings
|Field of Science:||
213 Electronic, automation and communications engineering, electronics
This work was supported by Academy of Finland, decision 286580 and 314180.
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