Name
Abstract | ||
|---|---|---|
Bimanual operations in humanoids offer the possibility to carry out more than one manipulation task at the same time, which in turn introduces the problem of task prioritization. We address this problem from a learning from demonstration perspective, by extending the task-parameterized Gaussian mixture model to Jacobian and null space structures. The proposed approach is tested on bimanual skills but can be applied in any scenario where the prioritization between potentially conflicting tasks needs to be learned. We evaluate the proposed framework in: two different tasks with humanoids requiring the learning of priorities and a loco-manipulation scenario, showing that the approach can be exploited to learn the prioritization of multiple tasks in parallel. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/TRO.2018.2878355 | IEEE Trans. Robotics |
Keywords | Field | DocType |
Task analysis,Robot kinematics,Null space,End effectors,Humanoid robots,Probabilistic logic | Kernel (linear algebra),Jacobian matrix and determinant,Task analysis,Robot kinematics,Control engineering,Robot end effector,Artificial intelligence,Probabilistic logic,Mathematics,Mixture model,Humanoid robot | Journal |
Volume | Issue | ISSN |
35 | 1 | 1552-3098 |
Citations | PageRank | References |
3 | 0.38 | 19 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| João Silvério | 1 | 34 | 5.52 |
| Sylvain Calinon | 2 | 1897 | 117.63 |
| Leonel Rozo | 3 | 158 | 13.95 |
| Darwin G. Caldwell | 4 | 2900 | 319.72 |