Abu-Dakka, FJ, Huang, Y orcid.org/0000-0002-5395-5076, Silvério, J et al. (1 more author) (2021) A probabilistic framework for learning geometry-based robot manipulation skills. Robotics and Autonomous Systems, 141. 103761. ISSN 0921-8890
Abstract
Programming robots to perform complex manipulation tasks is difficult because many tasks require sophisticated controllers that may rely on data such as manipulability ellipsoids, stiffness/damping and inertia matrices. Such data are naturally represented as Symmetric Positive Definite (SPD) matrices to capture specific geometric characteristics of the data, which increases the complexity of hard-coding them. To alleviate this difficulty, the Learning from Demonstration (LfD) paradigm can be used in order to learn robot manipulation skills with specific geometric constraints encapsulated in SPD matrices.
Learned skills often need to be adapted when they are applied to new situations. While existing techniques can adapt Cartesian and joint space trajectories described by various desired points, the adaptation of motion skills encapsulated in SPD matrices remains an open problem. In this paper, we introduce a new LfD framework that can learn robot manipulation skills encapsulated in SPD matrices from expert demonstrations and adapt them to new situations defined by new start-, via- and end-matrices. The proposed approach leverages Kernelized Movement Primitives (KMPs) to generate SPD-based robot manipulation skills that smoothly adapt the demonstrations to conform to new constraints. We validate the proposed framework using a couple of simulations in addition to a real experiment scenario.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2021 The Author(s). This is an open access article under the terms of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License (CC BY-NC-ND 4.0) (https://creativecommons.org/licenses/by-nc-nd/4.0/) |
Keywords: | Learning from demonstration; Variable impedance; Robot learning; Manipulability ellipsoids; Riemannian manifolds |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 26 Apr 2021 15:22 |
Last Modified: | 26 Apr 2021 15:22 |
Status: | Published |
Publisher: | Elsevier |
Identification Number: | 10.1016/j.robot.2021.103761 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:173158 |