Traditional robot programming is often not feasible in small-batch production, as it is time-consuming, inefficient, and expensive. To shorten the time necessary to deploy robot tasks, we need appropriate tools to enable efficient reuse of existing robot control policies. Incremental Learning from Demonstration (iLfD) and reversible Dynamic Movement Primitives (DMP) provide a framework for efficient policy demonstration and adaptation. In this paper, we extend our previously proposed framework with improvements that provide better performance and lower the algorithm’s computational burden. Further, we analyse the learning stability and evaluate the proposed framework with a comprehensive user study. The proposed methods have been evaluated on two popular collaborative robots, Franka Emika Panda and Universal Robot UR10. ; The research leading to these results has received funding from the Horizon 2020 RIA Programme grant 820767 CoLLaboratE and from the program group P2-0076 Automation, robotics, and biocybernetics funded by the Slovenian Research Agency.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Analysis of Methods for Incremental Policy Refinement by Kinesthetic Guidance


    Beteiligte:
    Simonič, Mihael (Autor:in) / Petrič, Tadej (Autor:in) / Ude, Aleš (Autor:in) / Nemec, Bojan (Autor:in)

    Erscheinungsdatum :

    15.04.2021


    Anmerkungen:

    oai:zenodo.org:5586169



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629





    Local Kinesthetic Guidance Based on Variable-Structure Control Techniques

    Cruz-Valverde, Carlos / Domínguez-Ramírez, Omar A / Ponce-de-León-Sánchez, Edgar R et al. | IEEE | 2010


    Kinesthetic Guidance Based on PID Control for Haptic Interaction

    Vega-Hernández, David / García-Valdovinos, Luis G / Domínguez-Ramírez, Omar A et al. | IEEE | 2010


    Mini-Batched Online Incremental Learning Through Supervisory Teleoperation with Kinesthetic Coupling

    Latifee, Hiba / Pervez, Affan / Ryu, Jee-Hwan et al. | Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2020

    Freier Zugriff

    KINESTHETIC SENSE PROVISION DEVICE AND KINESTHETIC SENSE PROVISION METHOD

    HORIE ARATA / INAMI MASAHIKO | Europäisches Patentamt | 2023

    Freier Zugriff