Learning from Demonstration by Averaging Trajectories (LAT) has been implemented using a Katana robotic manipulator. LAT works in three phases: Demonstration: Repeated recording of trajectories and detection of involved objects (located at changing positions). Generalisation: Creation of a continuos behaviour model on trajectory level for each object involved. Reproduction: Fusion of the models, adapted to an arbitrary new situation where all the objects again can be located at different positions.
Robot Learning from Demonstration by Averaging Trajectories - Pouring into the Cup
Experiment/Model Test
2012-01-01
42MB, 00:05:18:20
Audio-visual
Audio-visual
English
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