力覚フィードバック付き低コストセンサグローブによる確率的軌道表現を用いた模倣学習
Low-cost Sensor Glove with Force Feedback for Learning from Demonstrations using Probabilistic Trajectory Representations
約250ユーロで作れる力覚フィードバック付きセンサグローブを開発し、Matlab用のオープンソースインターフェースを提供するとともに、ヒューマノイドロボットiCubでの物体操作スキルの模倣学習に応用した。
著者: Elmar Rueckert, Rudolf Lioutikov, Roberto Calandra, Marius Schmidt, Philipp Beckerle, Jan Peters
分類: cs.RO
原文アブストラクト
Sensor gloves are popular input devices for a large variety of applications including health monitoring, control of music instruments, learning sign language, dexterous computer interfaces, and tele-operating robot hands. Many commercial products as well as low-cost open source projects have been developed. We discuss here how low-cost (approx. 250 EUROs) sensor gloves with force feedback can be build, provide an open source software interface for Matlab and present first results in learning object manipulation skills through imitation learning on the humanoid robot iCub.
