A probabilistic framework for learning geometry-based robot manipulation skills

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Journal Title
Journal ISSN
Volume Title
A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä
Date
2021-07
Major/Subject
Mcode
Degree programme
Language
en
Pages
10
Series
Robotics and Autonomous Systems, Volume 141
Abstract
Programming robots to perform complex manipulation tasks is difficult because many tasks require sophisticated controllers that may rely on data such as manipulability ellipsoids, stiffness/damping and inertia matrices. Such data are naturally represented as Symmetric Positive Definite (SPD) matrices to capture specific geometric characteristics of the data, which increases the complexity of hard-coding them. To alleviate this difficulty, the Learning from Demonstration (LfD) paradigm can be used in order to learn robot manipulation skills with specific geometric constraints encapsulated in SPD matrices. Learned skills often need to be adapted when they are applied to new situations. While existing techniques can adapt Cartesian and joint space trajectories described by various desired points, the adaptation of motion skills encapsulated in SPD matrices remains an open problem. In this paper, we introduce a new LfD framework that can learn robot manipulation skills encapsulated in SPD matrices from expert demonstrations and adapt them to new situations defined by new start-, via- and end-matrices. The proposed approach leverages Kernelized Movement Primitives (KMPs) to generate SPD-based robot manipulation skills that smoothly adapt the demonstrations to conform to new constraints. We validate the proposed framework using a couple of simulations in addition to a real experiment scenario.
Description
Keywords
Learning from demonstration, Variable impedance, Robot learning, Manipulability ellipsoids, Riemannian manifolds
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Citation
Abu-Dakka , F J , Huang , Y , Silvério , J & Kyrki , V 2021 , ' A probabilistic framework for learning geometry-based robot manipulation skills ' , Robotics and Autonomous Systems , vol. 141 , 103761 . https://doi.org/10.1016/j.robot.2021.103761