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Combining dynamical systems control and programmingby demonstration for teaching discrete bimanual coordination tasks to a humanoid robot

Published: 12 March 2008 Publication History

Abstract

We present a generic framework that combines Dynamical Systems movement control with Programming by Demonstration (PbD) to teach a robot bimanual coordination task. The model consists of two systems: a learning system that processes data collected during the demonstration of the task to extract coordination constraints and a motor system that reproduces the movements dynamically, while satisfying the coordination constraints learned by the first system. We validate the model through a series of experiments in which a robot is taught bimanual manipulatory tasks with the help of a human.

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  • (2024)Fusion dynamical systems with machine learning in imitation learning: A comprehensive overviewInformation Fusion10.1016/j.inffus.2024.102379108(102379)Online publication date: Aug-2024
  • (2023)LfDT: Learning Dual-Arm Manipulation from Demonstration Translated from a Human and Robotic Arm2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)10.1109/Humanoids57100.2023.10375192(1-8)Online publication date: 12-Dec-2023
  • (2023)BiRP: Learning Robot Generalized Bimanual Coordination Using Relative Parameterization Method on Human Demonstration2023 62nd IEEE Conference on Decision and Control (CDC)10.1109/CDC49753.2023.10383296(8300-8305)Online publication date: 13-Dec-2023
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  1. Combining dynamical systems control and programmingby demonstration for teaching discrete bimanual coordination tasks to a humanoid robot

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          cover image ACM Conferences
          HRI '08: Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
          March 2008
          402 pages
          ISBN:9781605580173
          DOI:10.1145/1349822
          Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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          Published: 12 March 2008

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          Author Tags

          1. bimanual coordination
          2. dynamical systems
          3. human-robot interaction(hri)
          4. humanoid robot
          5. learning by imitation
          6. programming by demonstration (pbd)

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          HRI '08
          HRI '08: International Conference on Human Robot Interaction
          March 12 - 15, 2008
          Amsterdam, The Netherlands

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          Overall Acceptance Rate 268 of 1,124 submissions, 24%

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          Cited By

          View all
          • (2024)Fusion dynamical systems with machine learning in imitation learning: A comprehensive overviewInformation Fusion10.1016/j.inffus.2024.102379108(102379)Online publication date: Aug-2024
          • (2023)LfDT: Learning Dual-Arm Manipulation from Demonstration Translated from a Human and Robotic Arm2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)10.1109/Humanoids57100.2023.10375192(1-8)Online publication date: 12-Dec-2023
          • (2023)BiRP: Learning Robot Generalized Bimanual Coordination Using Relative Parameterization Method on Human Demonstration2023 62nd IEEE Conference on Decision and Control (CDC)10.1109/CDC49753.2023.10383296(8300-8305)Online publication date: 13-Dec-2023
          • (2018)Constraints extraction from asymmetrical bimanual tasks and their use in coordinated behaviorRobotics and Autonomous Systems10.1016/j.robot.2017.12.011103(222-235)Online publication date: May-2018
          • (2017)Task PlanningRobot Learning by Visual Observation10.1002/9781119091882.ch5(73-127)Online publication date: 20-Jan-2017
          • (2017)Task RepresentationRobot Learning by Visual Observation10.1002/9781119091882.ch3(49-56)Online publication date: 20-Jan-2017
          • (2016)Bimanual human robot cooperation with adaptive stiffness control2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)10.1109/HUMANOIDS.2016.7803337(607-613)Online publication date: Nov-2016
          • (2015)On the Control of Human-Robot Bi-Manual ManipulationJournal of Intelligent and Robotic Systems10.1007/s10846-014-0055-478:1(21-32)Online publication date: 1-Apr-2015
          • (2015)Motion-Based LearningContext Aware Human-Robot and Human-Agent Interaction10.1007/978-3-319-19947-4_7(151-173)Online publication date: 26-Sep-2015
          • (2014)Encoding bi-manual coordination patterns from human demonstrationsProceedings of the 2014 ACM/IEEE international conference on Human-robot interaction10.1145/2559636.2559844(264-265)Online publication date: 3-Mar-2014
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