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Programming by Demonstration using Hidden Semi-Markov Models

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dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en
dc.contributor.advisor Pajarinen, Joni
dc.contributor.advisor Indri, Marina
dc.contributor.author Racca, Mattia
dc.date.accessioned 2015-11-19T10:45:29Z
dc.date.available 2015-11-19T10:45:29Z
dc.date.issued 2015-10-19
dc.identifier.uri https://aaltodoc.aalto.fi/handle/123456789/18617
dc.description.abstract Despite the growth of robotics, robots are far from being used in everyday life. The major reasons for this slow integration include robots’ lack of sensitivity, safety and flexibility. The aim of this final project is to improve these three issues, by providing the user a tool for teaching tasks to robots. An advanced robotic arm with force and torque sensing capabilities is used. A Programming by Demonstration approach based on Hidden Semi-Markov Models is developed. The framework is adapted to cope with in-contact task, handling perturbations and user interaction with different control techniques. Experiments evaluate the performance of the approach, showing that it allows to successfully imitate not only trajectories, but also force profiles. en
dc.format.extent 85
dc.language.iso en en
dc.title Programming by Demonstration using Hidden Semi-Markov Models en
dc.contributor.school Sähkötekniikan korkeakoulu fi
dc.subject.keyword Programming by Demonstration en
dc.subject.keyword In-contact task en
dc.subject.keyword Hidden Semi-Markov Models en
dc.subject.keyword Human-Robot interaction en
dc.identifier.urn URN:NBN:fi:aalto-201511205174
dc.programme.major Control, Robotics and Autonomous Systems fi
dc.programme.mcode ELEC3025 fi
dc.contributor.supervisor Kyrki, Ville
dc.programme AUT - Automaatio- ja systeemitekniikka (TS2005) fi
dc.location P1 fi
local.aalto.openaccess no
dc.rights.accesslevel closedAccess
local.aalto.idinssi 52513


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