Learning the skill of archery by a humanoid robot iCub

2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

Volumn , Issue , 2010, Pages 417-423

  Kormushev, Petar ^a   Calinon, Sylvain ^a   Saegusa, Ryo ^a   Metta, Giorgio ^a  

^a ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

EXPECTATION MAXIMIZATION; GAUSSIAN MIXTURE MODEL; HUMANOID ROBOT; INTEGRATED APPROACH; TWO HAND;

IMAGE PROCESSING; INVERSE KINEMATICS; LEARNING ALGORITHMS;

ANTHROPOMORPHIC ROBOTS;

EID: 79851489501     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2010.5686841     Document Type: Conference Paper

References (19)

1. A. Billard, S. Calinon, R. Dillmann, and S. Schaal, "Robot programming by demonstration," in Handbook of Robotics, B. Siciliano and O. Khatib, Eds. Secaucus, NJ, USA: Springer, 2008, pp. 1371-1394.
2. B. Argall, S. Chernova, M. Veloso, and B. Browning, "A survey of robot learning from demonstration," Robot. Auton. Syst., vol. 57, no. 5, pp. 469-483, 2009.
3. R. Sutton and A. Barto, Reinforcement learning: an introduction. Cambridge, MA, USA: MIT Press, 1998.
4. R. J. Williams, "Simple statistical gradient-following algorithms for connectionist reinforcement learning," Mach. Learn., vol. 8, no. 3-4, pp. 229-256, 1992.
5. J. Peters and S. Schaal, "Natural actor-critic," Neurocomput., vol. 71, no. 7-9, pp. 1180-1190, 2008.
6. J.Peters and S.Schaal, "Policy gradient methods for robotics," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, 2006.
7. J. Kober and J. Peters, "Learning motor primitives for robotics," in Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), May 2009, pp. 2112-2118.
8. J. Kober, "Reinforcement learning for motor primitives," Master's thesis, University of Stuttgart, Germany, August 2008.
9. P. Kormushev, S. Calinon, and D. G. Caldwell, "Robot motor skill coordination with EM-based reinforcement learning," in The 2010 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS2010), 2010.
10. Wikipedia. (2010) History of archery; Kyudo. [Online]. Available: http://en.wikipedia.org/wiki/History-of-archery; http://en.wikipedia.org/wiki/ Kyudo
11. Y. Suematsu. (2001) Zashiki karakuri. Department of Electronic-Mechanical Engineering, Nagoya University. [Online]. Available: http://www.karakuri.info/ zashiki/index.html
12. E. Gribovskaya and A. Billard, "Combining dynamical systems control and programming by demonstration for teaching discrete bimanual coordination tasks to a humanoid robot," in Proc. ACM/IEEE Intl Conf. on Human-Robot Interaction (HRI), 2008.
13. G. Schwarz, "Estimating the dimension of a model," Annals of Statistics, vol. 6, pp. 461-464, 1978.
14. G. Metta, G. Sandini, D. Vernon, L. Natale, and N. F., "The icub humanoid robot: an open platform for research in embodied cognition," in Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems, Washington DC, USA, 2008, pp. 50-56.
15. N. Tsagarakis, G. Metta, G. Sandini, D. Vernon, R. Beira, F. Becchi, L. Righetti, J. Santos-Victor, A. Ijspeert, M. Carrozza, and D. Caldwell, "iCub: The design and realization of an open humanoid platform for cognitive and neuroscience research," Advanced Robotics, vol. 21, no. 10, pp. 1151-1175, 2007.
16. S. Lallee, S. Lemaignan, A. Lenz, C. Melhuish, L. Natale, S. Skachek, T. v. D. Zant, F. Warneken, and D. P. Ford, "Towards a platform-independent cooperative human-robot interaction system: I. perception," in The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010), 2010.
17. G. Metta, P. Fitzpatrick, and L. Natale, "Yarp: Yet another robot platform," International Journal on Advanced Robotics Systems, vol. 3, no. 1, pp. 43-48, 2006.
18. P. Fitzpatrick, G. Metta, and L. Natale, "Towards long-lived robot genes," Robotics and Autonomous Systems, vol. 56, no. 1, pp. 29-45, 2008.
19. U. Pattacini, F. Nori, L. Natale, G. Metta, and G. Sandini, "An experimental evaluation of a novel minimum-jerk cartesian controller for humanoid robots," in The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010), 2010.