NDLI: Learning and generalizing force control policies for sculpting

Content Provider	IEEE Xplore Digital Library
Author	Koropouli, V. Hirche, S. Dongheui Lee
Copyright Year	2012
Description	Author affiliation: Institute of Automatic Control Engineering (LSR), Technische Universität München, 80290 Munchen, Germany (Koropouli, V.; Hirche, S.; Dongheui Lee)
Abstract	Humans exhibit exceptional skills in using tools and manipulating objects of their environment by skillfully controlling exerted force and arm impedance. One of the basic components of this mechanism is the generation of internal models which associate kinematic variables with applied force. On the other hand, making robots capable of skillfully using tools and adapting their motor behavior to new environmental conditions is rather complex. In the present paper, we investigate learning of force control policies for robotic sculpting given multiple task demonstrations. These policies express the relationship between constrained motions and exerted force and are learned in Cartesian space where the coupling of dynamics between different directions of motion is also taken into account. In addition, a novel algorithm is proposed to generalize these policies to new motion tasks, executed in a sufficiently homogeneous environment, same with that in demonstrations, but in presence of new motion-dependent external forces. To this aim, a differential calculus approach is proposed where not only the mapping from motion to force but also from difference in motion to difference in force is learned to generalize the policies to new contexts. This is achieved by learning apart from a set of policy parameters, some newly introduced quantities, so called weight differentials, which express the rate of change of the policy parameters. The proposed approach is validated in simple real-world sculpting experiments by using a two degrees-of-freedom haptic device.
Starting Page	1493
Ending Page	1498
File Size	1332220
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385957
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Force control Materials Vectors Kinematics Couplings Humans
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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