An Approach to Acquire Path-Following Skills by Industrial Robots From Human Demonstration

Industrial robots have mainly been programmed by operators using teach pendants in a point-to-point scheme with limited sensing capabilities. New developments in robotics have attracted a lot of attention to robot motor skill learning via human interaction using Learning from Demonstration (LfD) tec...

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Bibliographic Details
Published in:IEEE access 2021, Vol.9, p.82351-82363
Main Authors: Rodriguez-Linan, Angel, Lopez-Juarez, Ismael, Maldonado-Ramirez, Alan, Zalapa-Elias, Antonio, Torres-Trevino, Luis, Navarro-Gonzalez, Jose Luis, Chinas-Sanchez, Pamela
Format: Article
Language:English
Subjects:
3D trajectory acquisition
Estimation
Human motion
Industrial robots
inertial measurement unit (IMU)
Inertial platforms
Learning
Learning from demonstration (LfD)
Motion capture
Robot kinematics
Robot sensing systems
Robotics
Robots
Sensors
Service robots
Task analysis
Teach pendants
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Summary:Industrial robots have mainly been programmed by operators using teach pendants in a point-to-point scheme with limited sensing capabilities. New developments in robotics have attracted a lot of attention to robot motor skill learning via human interaction using Learning from Demonstration (LfD) techniques. Robot skill acquisition using LfD techniques is characterised by a high-level stage in charge of learning connected actions and a low-level stage concerned with motor coordination and reproduction of an observed path. In this paper, we present an approach to acquire a path-following skill by a robot in the low-level stage which deals with the correspondence of mapping links and joints from a human operator to a robot so that the robot can actually follow a path. We present the design of an Inertial Measurement Unit (IMU) device that is primarily used as an input to acquire the robot skill. The approach is validated using a motion capture system as ground truth to assess the spatial deviation from the human-taught path to the robot's final trajectory.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2021.3086701