ROBOT LEARNING OF OBJECT MANIPULATION TASK ACTIONS FROM HUMAN DEMONSTRATIONS

摘要

Robot learning from demonstration is a method which enables robots to learn in a similar way as humans. In this paper, a framework that enables robots to learn from multiple human demonstrations via kinesthetic teaching is presented. The subject of learning is a high-level sequence of actions, as well as the low-level trajectories necessary to be followed by the robot to perform the object manipulation task. The multiple human demonstrations are recorded and only the most similar demonstrations are selected for robot learning. The high-level learning module identifies the sequence of actions of the demonstrated task. Using Dynamic Time Warping (DTW) and Gaussian Mixture Model (GMM), the model of demonstrated trajectories is learned. The learned trajectory is generated by Gaussian mixture regression (GMR) from the learned Gaussian mixture model. In online working phase, the sequence of actions is identified and experimental results show that the robot performs the learned task successfully.