Thesis

Programming by Demonstration of Robot Manipulators

Örebro University
Thesis for: PhD, Advisor:
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    ABSTRACT: In this chapter a novel approach to skill acquisition from human demonstration is presented. Usually the morphology of a robot manipulator is very different from the human arm and cannot simply copy a human motion. Instead the robot has to execute its own version of the skill demonstrated by the operator. Once a skill has been acquired by the robot it must also be able to generalize to other similar skills without starting a new learning process. By using a motion planner that operates in an object-related world-frame called hand-state, we show that this representation simplifies a skill reconstruction and preserves the essential parts of the skill.
    01/2009; Springer.

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