NDLI: Learning collaborative manipulation tasks by demonstration using a haptic interface

Content Provider	IEEE Xplore Digital Library
Author	Calinon, S. Evrard, P. Gribovskaya, E. Billard, A. Kheddar, A.
Copyright Year	2009
Description	Author affiliation: Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique Fédérale de Lausanne (EPFL), CH-1015, Switzerland (Calinon, S.; Gribovskaya, E.; Billard, A.) \|\| CNRS-AIST, JRL, UMI3218/CRT, Tsukuba, Japan (Evrard, P.; Kheddar, A.)
Abstract	This paper presents a method by which a robot can learn through observation to perform a collaborative manipulation task, namely lifting an object. The task is first demonstrated by a user controlling the robot's hand via a haptic interface. Learning extracts statistical redundancies in the examples provided during training by using Gaussian Mixture Regression and Hidden Markov Model. Haptic communication reflects more than pure dynamic information on the task, and includes communication patterns, which result from the two users constantly adapting their hand motion to coordinate in time and space their respective motions. We show that the proposed statistical model can efficiently encapsulate typical communication patterns across different dyads of users, that are stereotypical of collaborative behaviours between humans and robots. The proposed learning approach is generative and can be used to drive the robot's retrieval of the task by ensuring a faithful reproduction of the overall dynamics of the task, namely by reproducing the force patterns for both lift the object and adapt to the human user's hand motion. This work shows the potential that teleoperation holds for transmitting both dynamic and communicative information on the task, which classical methods for programming by demonstration have traditionally overlooked.
Starting Page	1
Ending Page	6
File Size	1430556
Page Count	6
File Format	PDF
ISBN	9781424448555
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-22
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	GPS Gesellschaft
Subject Keyword	Collaboration Haptic interfaces Robot kinematics Hidden Markov models Humans Orbital robotics Dynamic programming Robot control Communication system control Data mining
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
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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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