XUE, Xianfa, ZUO, Lei and WANG, Ning (2022). A Robot Human‐Like Learning Framework Applied to Unknown Environment Interaction. Complexity, 2022 (1): 648826. [Article]
Documents
35452:993018
PDF
Wang-ARobotHumanLikeLearning(VoR).pdf - Published Version
Available under License Creative Commons Attribution.
Wang-ARobotHumanLikeLearning(VoR).pdf - Published Version
Available under License Creative Commons Attribution.
Download (3MB) | Preview
Abstract
Learning from demonstration (LfD) is one of the promising approaches for fast robot programming. Most learning systems learn both movements and stiffness profiles from human demonstrations. However, they rarely consider the unknown environment interaction. In this paper, a robot human‐like learning framework is proposed, where it can learn human skills through demonstration and complete the interaction task with an unknown environment. Firstly, the desired trajectory was generated by dynamic movement primitive (DMP) based on human demonstration. Then, an adaptive optimal admittance control scheme was employed to interact with environments with the reference adaptation method. Finally, the experimental study was conducted, and the effectiveness of the framework proposed in this paper was verified via a group of curved surface wiping experiments on a balloon with unknown model parameters
More Information
Statistics
Downloads
Downloads per month over past year
Metrics
Altmetric Badge
Dimensions Badge
Share
Actions (login required)
![]() |
View Item |