Cart (Loading....) | Create Account
Close category search window
 

Contact-State Classification in Human-Demonstrated Robot Compliant Motion Tasks Using the Boosting Algorithm

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Cabras, S. ; Dept. of Math., Univ. degli Studi di Cagliari, Cagliari, Italy ; Castellanos, M.E. ; Staffetti, E.

Robot programming by demonstration is a robot programming paradigm in which a human operator directly demonstrates the task to be performed. In this paper, we focus on programming by demonstration of compliant motion tasks, which are tasks that involve contacts between an object manipulated by the robot and the environment in which it operates. Critical issues in this paradigm are to distinguish essential actions from those that are not relevant for the correct execution of the task and to transform this information into a robot-independent representation. Essential actions in compliant motion tasks are the contacts that take place, and therefore, it is important to understand the sequence of contact states that occur during a demonstration, called contact classification or contact segmentation. We propose a contact classification algorithm based on a supervised learning algorithm, in particular on a stochastic gradient boosting algorithm. The approach described in this paper is accurate and does not depend on the geometric model of the objects involved in the demonstration. It neither relies on the kinestatic model of the contact interactions nor on the contact state graph, whose computation is usually of prohibitive complexity even for very simple geometric object models.

Published in:

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:40 ,  Issue: 5 )

Date of Publication:

Oct. 2010

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.