Name
Abstract | ||
|---|---|---|
In order to properly function in real-world environments, the gait of a humanoid robot must be able to adapt to new situations as well as to deal with unexpected perturbations. A promising research direction is the modular generation of movements that results from the combination of a set of basic primitives. Humans seem to be able to adapt their motion in an effortless way and efficient way. In this work we present a methodology to extract a single demonstration signal from a human teacher that can be used in a biped robot to walk in an efficient way and quickly adapt to new situations. Instead of using a normal human gait, the demonstrator walks on a gait we called "robot-like". It is our belief that the retargeting task will be more efficient and easier by using this methodology. The acquired signal is then used to train a set of Dynamic Movement Primitives (DMP) that directly retrieves the trajectories of the end effector in the Cartesian space. In previous works we have used this methodology with efficiency in several tasks, e.g., walking over irregularities, overcoming an obstacle. Now, by combining rhythmic DMP with discrete DMP, we show that the adaptability performance to new situations that require precise foot placement is increased. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/ICARSC.2016.53 | 2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) |
Keywords | Field | DocType |
Biped locomotion,imitation learning,single demonstration,movement primitives,adaptive behavior | Computer vision,Robot kinematics,Retargeting,Robot end effector,Artificial intelligence,Modular design,Engineering,Gait (human),Robot,Trajectory,Humanoid robot | Conference |
ISSN | ISBN | Citations |
2573-9360 | 978-1-5090-2256-4 | 0 |
PageRank | References | Authors |
0.34 | 0 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| José Rosado | 1 | 0 | 0.34 |
| Filipe M. T. Silva | 2 | 65 | 14.07 |
| Vítor M. F. Santos | 3 | 95 | 21.33 |