Autonomous Motion
Conference Paper
2001
Robust learning of arm trajectories through human demonstration
We present a model, composed of hierarchy of artificial neural networks, for robot learning by demonstration. The model is implemented in a dynamic simulation of a 41 degrees of freedom humanoid for reproducing 3D human motion of the arm. Results show that the model requires few information about the desired trajectory and learns on-line the relevant features of movement. It can generalize across a small set of data to produce a qualitatively good reproduction of the demonstrated trajectory. Finally, it is shown that reproduction of the trajectory after learning is robust against perturbations.
| Author(s): | Billard, A. and Schaal, S. |
| Book Title: | IEEE International Conference on Intelligent Robots and Systems (IROS 2001) |
| Year: | 2001 |
| Publisher: | Piscataway, NJ: IEEE |
| Bibtex Type: | Conference Paper (inproceedings) |
| Address: | Maui, Hawaii, Oct.29-Nov.3 |
| URL: | http://www-clmc.usc.edu/publications/B/billard-IROS2001.pdf |
| Cross Ref: | p1462 |
| Electronic Archiving: | grant_archive |
| Note: | clmc |
BibTex
@inproceedings{Billard_IICIRS_2001,
title = {Robust learning of arm trajectories through human demonstration},
booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS 2001)},
abstract = {We present a model, composed of hierarchy of artificial neural networks, for robot learning by demonstration. The model is implemented in a dynamic simulation of a 41 degrees of freedom humanoid for reproducing 3D human motion of the arm. Results show that the model requires few information about the desired trajectory and learns on-line the relevant features of movement. It can generalize across a small set of data to produce a qualitatively good reproduction of the demonstrated trajectory. Finally, it is shown that reproduction of the trajectory after learning is robust against perturbations.},
publisher = {Piscataway, NJ: IEEE},
address = {Maui, Hawaii, Oct.29-Nov.3},
year = {2001},
note = {clmc},
slug = {billard_iicirs_2001},
author = {Billard, A. and Schaal, S.},
crossref = {p1462},
url = {http://www-clmc.usc.edu/publications/B/billard-IROS2001.pdf}
}