본문 바로 가기

로고

국내 최대 정보 기계·건설 공학연구정보센터
통합검색 화살표
  • NX CAE(Nastran)
  • 해외학술지번역

    1455 0
    해외학술지번역 제목 게시판 내용
    제목(국문)
    제목(영문) Incremental Kinesthetic Teaching of Motion Primitives Using the Motion Refinement Tube
    저자 Dongheui Lee and Christian Ott,
    초록

    * 해당자료는 저자이신 뮌헨공대 이동희 교수님이 제공해주신 자료이며,  인터뷰 자료에  넣기 위해 첨부하였습니다.  따라서 번역자료가 아닌 원문이 제공됩니다.  


    Abstract We present an approach for kinesthetic teaching of motion primitives for a humanoid robot. The proposed teaching method starts with observational learning and applies iterative kinesthetic motion refinement using a forgetting factor. Kinesthetic teaching is supported by introducing the motion refinement tube, which represents an area of allowed motion refinement around the nominal trajectory.
    On the realtime control level, the kinesthetic teaching is handled by a customized impedance controller, which combines tracking performance with compliant physical interaction and allows to implement soft boundaries for the motion refinement. A novel method for continuous generation of motions from a hidden Markov model (HMM) representation of motion primitives is proposed, which incorporates time information for each state. The proposed methods were implemented and tested using DLR’s humanoid upper-body robot Justin.
    An earlier version of this work was presented at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2010 (Lee and Ott 2010).
    Electronic supplementary material The online version of this article (doi:10.1007/s10514-011-9234-3) contains supplementary material,
    which is available to authorized users.


    Keywords Programming by demonstration · Imitation
    learning · Physical coaching · Incremental learning ·
    Motion refinement tube · Impedance control

    저널명 Autonomous Robots, 31 (2011) , no. 2 , 115-131 .
    등록일자 2015년 12월
    번역File 번역문다운로드
    • 페이스북아이콘
    • 트위터 아이콘

    서브 사이드

    서브 우측상단1