Joining Force of Human Muscular Task Planning With Robot Robust and Delicate Manipulation for Programming by Demonstration
文献类型：期刊论文
| 作者 | Wang, Fei1; Zhou, Xingqun2; Wang, Jianhui2; Zhang, Xing1; He, Zhenquan2; Song, Bo3 |
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2020-10-01 |
| 卷号 | 25 |
| ISSN号 | 1083-4435 |
| 关键词 | Task analysis Robot sensing systems Gesture recognition IEEE transactions Mechatronics Robotic assembly Implicit muscular task planning multisource information fusion programming by demonstration reinforcement learning |
| DOI | 10.1109/TMECH.2020.2997799 |
| 通讯作者 | Wang, Fei(wangfei@mail.neu.edu.cn) |
| 英文摘要 | Recently, programing by demonstration (PbD) received much attention for its capacity of fast programming with increasing demands in the robot manipulation area, especially in industrial applications. However, one of the biggest challenges of PbD is the recognition of demonstrator's finger high-fidelity motions especially in the environments with uncertainties, which limits the efficiency and accuracy of PbD. In this article, inspired by human dexterity, a novel PbD approach using the implicit muscular task planning strategy is presented to extract features from the arms' giant movement and the hands' fine motions during the demonstrator's operation. Furthermore, we integrate a deep reinforcement learning control method that further improves the manipulations' adaptive ability in the unknown or dynamic environments. The experimental results show that our proposed approach can deal with relative complex assembly tasks with a success rate of more than 67% within a fit tolerance of 4.2 mm by one-shot demonstration. |
| WOS关键词 | INTEGRATED FRAMEWORK ; SYSTEM |
| 资助项目 | Foundation of National Natural Science Foundation of China[61973065] ; Fundamental Research Funds for the Central Universities of China[N172608005] ; Fundamental Research Funds for the Central Universities of China[N182612002] ; Fundamental Research Funds for the Central Universities of China[N2026002] ; Liaoning Provincial Natural Science Foundation of China[20180520007] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:000578004900040 |
| 资助机构 | Foundation of National Natural Science Foundation of China ; Fundamental Research Funds for the Central Universities of China ; Liaoning Provincial Natural Science Foundation of China |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/104536]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Wang, Fei |
| 作者单位 | 1.Northeastern Univ, Fac Robot Sci & Engn, Shenyang 110169, Peoples R China 2.Northeastern Univ, Coll Informat Sci & Engn, Shenyang 110819, Peoples R China 3.Chinese Acad Sci, Inst Intelligent Machines, Hefei 230031, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Fei,Zhou, Xingqun,Wang, Jianhui,et al. Joining Force of Human Muscular Task Planning With Robot Robust and Delicate Manipulation for Programming by Demonstration[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2020,25. |
| APA | Wang, Fei,Zhou, Xingqun,Wang, Jianhui,Zhang, Xing,He, Zhenquan,&Song, Bo.(2020).Joining Force of Human Muscular Task Planning With Robot Robust and Delicate Manipulation for Programming by Demonstration.IEEE-ASME TRANSACTIONS ON MECHATRONICS,25. |
| MLA | Wang, Fei,et al."Joining Force of Human Muscular Task Planning With Robot Robust and Delicate Manipulation for Programming by Demonstration".IEEE-ASME TRANSACTIONS ON MECHATRONICS 25(2020). |
入库方式： OAI收割
来源：合肥物质科学研究院
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