NDLI: Improvements on action parsing and action interpolation for learning through demonstration

Content Provider	IEEE Xplore Digital Library
Author	Lieberman, J. Breazeal, C.
Copyright Year	2004
Description	Author affiliation: Robotic Life Group, Massachusetts Inst. of Technol., Cambridge, MA, USA (Lieberman, J.; Breazeal, C.)
Abstract	Programming humanoid robots with new motor skills through human demonstration is a promising approach to endowing humanoids with new capabilities in a relatively quick and intuitive manner. This paper presents an automated software system to enable our humanoid robot to learn a generalized dexterous motor skill from relatively few demonstrations provided by a human operator wearing a telemetry suit. Movement, end-effector, stereovision, and tactile information are analyzed to automatically segment movement streams along goal-directed boundaries. Further combinatorial selection of subsets of markers allows final episodic boundary selection and time alignment of tasks. The task trials are then analyzed spatially using radial basis functions [RBFs] to interpolate between demonstrations using the position of the target object as the motion blending parameter. A secondary RBF solution, using end-effector paths in the object coordinate frame, provides precise end-effector positioning and orienting relative to the object. Blending of these two solutions is shown to both preserve quality of motion while increasing accuracy and robustness of object manipulation.
Sponsorship	IEEE Robotics and Autom. Soc., Robotics Soc. of Japan
Starting Page	342
Ending Page	365
File Size	2103858
Page Count	24
File Format	PDF
ISBN	0780388631
DOI	10.1109/ICHR.2004.1442131
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-11-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Interpolation Robot kinematics Optical feedback Education Humanoid robots Humans End effectors Telemetry Motion analysis Orbital robotics
Content Type	Text
Resource Type	Article

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
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
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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