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Reference TypeConference Proceedings
Author(s)Pastor, P.;Hoffmann, H.;Asfour, T.;Schaal, S.
Year2009
TitleLearning and generalization of motor skills by learning from demonstration
Journal/Conference/Book TitleInternational Conference on Robotics and Automation (ICRA2009)
Keywordsmovement primitives, dynamic systems, obstacle avoidance, generalization, affordances
AbstractWe provide a general approach for learning robotic motor skills from human demonstration. To represent an observed movement, a non-linear differential equation is learned such that it reproduces this movement. Based on this representation, we build a library of movements by labeling each recorded movement according to task and context (e.g., grasping, placing, and releasing). Our differential equation is formulated such that generalization can be achieved simply by adapting a start and a goal parameter in the equation to the desired position values of a movement. For object manipulation, we present how our framework extends to the control of gripper orientation and finger position. The feasibility of our approach is demonstrated in simulation as well as on a real robot. The robot learned a pick-and-place operation and a water-serving task and could generalize these tasks to novel situations.
Place PublishedKobe, Japan, May 12-19, 2009
Short TitleLearning and generalization of motor skills by learning from demonstration
URL(s) http://www-clmc.usc.edu/publications/P/pastor-ICRA2009.pdf

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