This paper proposes an end-to-end learning from demonstration framework for teaching force-based manipulation tasks to robots. The strengths of this work are manyfold. First, we deal with the problem of learning through force perceptions exclusively. Second, we propose to exploit haptic feedback both as a means for improving teacher demonstrations and as a human–robot interaction tool, establishing a bidirectional communication channel between the teacher and the robot, in contrast to the works using kinesthetic teaching. Third, we address the well-known what to imitate? problem from a different point of view, based on the mutual information between perceptions and actions. Lastly, the teacher’s demonstrations are encoded using a Hidden Markov Model, and the robot execution phase is developed by implementing a modified version of Gaussian Mixture Regression that uses implicit temporal information from the probabilistic model, needed when tackling tasks with ambiguous perceptions. Experimental results show that the robot is able to learn and reproduce two different manipulation tasks, with a performance comparable to the teacher’s one. ; Peer Reviewed ; Postprint (author’s final draft post-refereeing)


    Access

    Download


    Export, share and cite



    A robot learning from demonstration framework to perform force-based manipulation tasks

    Rozo, Leonel / Jiménez Schlegl, Pablo / Torras, Carme | BASE | 2013

    Free access




    Robot learning from demonstration of force-based tasks with multiple solution trajectories

    Rozo, Leonel / Jiménez Schlegl, Pablo / Torras, Carme | BASE | 2011

    Free access