Programming by Demonstration using Hidden Semi-Markov Models

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URL

Journal Title

Journal ISSN

Volume Title

Sähkötekniikan korkeakoulu |

Authors

Date

2015-10-19

Department

Major/Subject

Control, Robotics and Autonomous Systems

Mcode

ELEC3025

Degree programme

AUT - Automaatio- ja systeemitekniikka (TS2005)

Language

en

Pages

85

Series

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.

Description

Supervisor

Kyrki, Ville

Thesis advisor

Pajarinen, Joni
Indri, Marina

Keywords

Programming by Demonstration, In-contact task, Hidden Semi-Markov Models, Human-Robot interaction

Other note

Citation

Permanent link to this item

https://urn.fi/URN:NBN:fi:aalto-201511205174

Collections

[final] Final projects