人間の探索戦略を模倣する組立ロボットの学習手法
Imitating Human Search Strategies for Assembly
人間の実演から状態不変ダイナミクスモデルと探索分布を学習し、位置不確実性下でのペグ挿入やソケット挿入の探索動作をロボットに模倣させる手法を提案した。
著者: Dennis Ehlers, Markku Suomalainen, Jens Lundell, Ville Kyrki
分類: cs.RO
原文アブストラクト
We present a Learning from Demonstration method for teaching robots to perform search strategies imitated from humans in scenarios where alignment tasks fail due to position uncertainty. The method utilizes human demonstrations to learn both a state invariant dynamics model and an exploration distribution that captures the search area covered by the demonstrator. We present two alternative algorithms for computing a search trajectory from the exploration distribution, one based on sampling and another based on deterministic ergodic control. We augment the search trajectory with forces learnt through the dynamics model to enable searching both in force and position domains. An impedance controller with superposed forces is used for reproducing the learnt strategy. We experimentally evaluate the method on a KUKA LWR4+ performing a 2D peg-in-hole and a 3D electricity socket task. Results show that the proposed method can, with only few human demonstrations, learn to complete the search task.
