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A Task-Learning Strategy for Robotic Assembly Tasks from Human Demonstrations
| Content Provider | MDPI |
|---|---|
| Author | Ding, Guanwen Liu, Yubin Zang, Xizhe Zhang, Xuehe Liu, Gangfeng Zhao, Jie |
| Copyright Year | 2020 |
| Description | In manufacturing, traditional task pre-programming methods limit the efficiency of human–robot skill transfer. This paper proposes a novel task-learning strategy, enabling robots to learn skills from human demonstrations flexibly and generalize skills under new task situations. Specifically, we establish a markerless vision capture system to acquire continuous human hand movements and develop a threshold-based heuristic segmentation algorithm to segment the complete movements into different movement primitives (MPs) which encode human hand movements with task-oriented models. For movement primitive learning, we adopt a Gaussian mixture model and Gaussian mixture regression (GMM-GMR) to extract the optimal trajectory encapsulating sufficient human features and utilize dynamical movement primitives (DMPs) to learn for trajectory generalization. In addition, we propose an improved visuo-spatial skill learning (VSL) algorithm to learn goal configurations concerning spatial relationships between task-relevant objects. Only one multioperation demonstration is required for learning, and robots can generalize goal configurations under new task situations following the task execution order from demonstration. A series of peg-in-hole experiments demonstrate that the proposed task-learning strategy can obtain exact pick-and-place points and generate smooth human-like trajectories, verifying the effectiveness of the proposed strategy. |
| Starting Page | 5505 |
| e-ISSN | 14248220 |
| DOI | 10.3390/s20195505 |
| Journal | Sensors |
| Issue Number | 19 |
| Volume Number | 20 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2020-09-25 |
| Access Restriction | Open |
| Subject Keyword | Sensors Industrial Engineering Dynamic Movement Primitives Human–robot Skills Transfer Movement Segmentation Robotic Assembly Visuo-spatial Skill Learning |
| Content Type | Text |
| Resource Type | Article |
