A Learning from Demonstration Method for Generating Human-like Actions on Redundant Manipulators
文献类型：会议论文
| 作者 | Zhao L(赵亮)1,2,3; Yu P(于鹏)2,3 ; Yang T(杨铁)2,3; Yang Y(杨洋)2,3; Liu LQ(刘连庆)2,3
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| 出版日期 | 2021 |
| 会议日期 | December 27-31, 2021 |
| 会议地点 | Sanya, China |
| 页码 | 913-918 |
| 英文摘要 | Achieving human-like actions on robots can significantly improve the quality of human-robot collaboration (HRC). However, it is not easy to control the general-purpose robotic manipulators to work in a human-like style when the kinematic discrepancy exists between humans and robots. In this paper, we propose a human-in-the-loop learning framework to enable human-like properties on a general-purpose redundant manipulator. We collect the human-like demonstration dataset via teleoperation. We then use the behavioral cloning method to train a neural network policy to generate human-like constraints for the redundant manipulator automatically. Furthermore, we introduce an online relabeling method to accelerate learning and relieve workload in the demonstration. Experimental results showed that our proposed framework could successfully train a human-like constraint generation policy with a demonstration dataset collected within a few minutes. Appearance similarity could be seen between the human arm posture and the configuration of the manipulator when performing pose tracking tasks. |
| 源文献作者 | Chiba Institute of Technology ; et al. ; IEEE Robotics and Automation Society ; Nankai University ; Shenyang Institute of Automation ; Shenzhen Academy of Robotics |
| 产权排序 | 1 |
| 会议录 | 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-0535-5 |
| 源URL | [http://ir.sia.cn/handle/173321/30827]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Liu LQ(刘连庆) |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110169, China |
| 推荐引用方式 GB/T 7714 | Zhao L,Yu P,Yang T,et al. A Learning from Demonstration Method for Generating Human-like Actions on Redundant Manipulators[C]. 见:. Sanya, China. December 27-31, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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