In this study, programming by demonstration (PbD) teaching agent was proposed. PbD of fine movements proves to be difficult since sub-millimetre positioning accuracy is required. The agent presented in this study provided users with the visual enhancement feature in order to reduce the positioning error of demonstrations. Furthermore, an optimization of Gaussian mixture models (GMM) components positioning is presented, which allows for better detection and learning of relevant sub-millimetre movements within a larger movement.
Improving Kinesthetic Teaching of Fine Tasks Using a Teaching Agent
Mechan. Machine Science
International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022
2022-04-23
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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