Learning from demonstration: Repetitive movements for autonomous service robotics

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 4, Issue , 2004, Pages 3495-3500

  Urbanek, Holger ^a   Albu Schäffer, Alin ^a   Van Der Smagt, Patrick ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); GENETIC ALGORITHMS; INTERPOLATION; MATRIX ALGEBRA; NONLINEAR SYSTEMS; SIMULATED ANNEALING; TORQUE;

GAUSS KERNELS; GLOBAL SEARCH ALGORITHMS; NONLINEAR MAPPING; TRANSFORMATION MATRIX;

ROBOT LEARNING;

EID: 14044275151     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. Albu-Schäffer, Alin and Hirzinger, Gerd. Cartesian impedance control techniques for torque controlled light-weight robots. ICRA, pages 657-663, 2002.
2. Bentivegna, Darrin C., Atkeson, Christopher G., and Cheng, Gordon. Learning from observation and practice using primitives. Workshop on Robot Programming by Demonstration, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003.
3. Brunner, Bernhard, Vogel, Jörg, and Hirzinger, Gerd. Aufgabenori-entierte Fernprogrammierung von Robotern, at - Automatisierung- stechnik, 49(7):312-319, 2001.
4. Doya, K. and Yoshizwawa. Adaptive syncronization of neural and physical oscillators. Advances in Neural Information Processing Systems, 1992.
5. Ehrenmann, M., Zöllner, R., Rogalla, O., and Dillmann, R. Programming service tasks in household environments by human demonstration. 11th IEEE Int. Workshop on Robot and Human interactive Communication (ROMAN), pages 460-467, 2002.
6. Ermentrout B., and Kopell, N. Learning of phase lags in coupled neural oscillators. Neural Computation, 6:225-241, 1994.
7. Goldberg, David E. Genetic Algorithms in Search, Optimization, and Machine Learning. Addison-Wesley, Reading, Massachusetts et al., 1989.
8. Ijspeert, Auke Jan, Nakanishi, Jun, and Schaal, Stefan. Learning attractor landscapes for learning motor primitives. Advances in Neural Information Processing Systems, 15, 2002.
9. Ijspeert, Auke Jan, Nakanishi, Jun, and Schaal, Stefan. Learning rhythmic movements by demonstration using nonlinear oscillators. Proceedings of the IEEE/RSJ Int. Conference on Intelligent Robots and Systems, pages 958-963, 2002.
10. Ijspeert, Auke Jan, Nakanishi, Jun, and Schaal, Stefan. Movement imitation with nonlinear dynamical systems in humanoid robots. Proceedings of the IEEE International Conference on Robotics and Automation, pages 1398-1403, 2002.
11. Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato. Learning from demonstration and adaptation of biped locomotion with dynamical movement primitives. Workshop on Robot Programming by Demonstration, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003.
12. Milenkovic, Victor J. Rotational polygon overlap minimization. 13th Annual Symposium on Computational Geometry (SoCG), 1997.
13. Nilsson, Nils J. Principles of Artificial Intelligence. Morgan Kaufmann Publishers, San Francisco, reprint edition, 1986.
14. Nishii, J. A learning model for oscillatory networks. Neural Networks, 11:249-257, 1998.