Handling of multiple constraints and motion alternatives in a robot programming by demonstration framework
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We present a new device aimed at being used for upper limb rehabilitation. Our main focus was to design a robot capable of working in both the passive mode (i.e. the robot shall be strong enough to generate human-like movements while guiding the weak arm o ...
In this article we describe the use of a standard game console joystick, namely the Nintendo Wiimote, for controlling a HOAP-2 humanoid robot. We give a short overview on the use of tangible user interfaces, followed by the description of the used game con ...
Robot Programming by Demonstration (RbD) covers methods by which a robot learns new skills through human guidance. In this work, we take the perspective that the role of the teacher is more important than just being a model of successful behaviour, and pre ...
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Robot Programming by Demonstration (RbD), also referred to as Learning by Imitation, explores user-friendly means of teaching a robot new skills. Recent advances in RbD have identified a number of key-issues for ensuring a generic approach to the transfer ...
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We present a Programming by Demonstration (PbD) framework for generically extracting the relevant features of a given task and for addressing the problem of generalizing the acquired knowledge to different contexts. We validate the architecture through a s ...
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This paper presents a comparison between six different ways to convey navigational information provided by a robot to a human. Visual, auditory, and tactile feedback mo-da-li-ties were selected and designed to suggest a direction of travel to a human us ...
Robot Programming by Demonstration (RbD) covers methods by which a robot learns new skills through human guidance. In this work, we take the perspective that the role of the teacher is more important than just being a model of successful behaviour, and pre ...
We present an approach to teach incrementally human gestures to a humanoid robot. The learning process consists of first projecting the movement data in a latent space and encoding the resulting signals in a Gaussian Mixture Model (GMM). We compare the per ...