Learning Manipulation by Sequencing Motor Primitives with a Two-Armed Robot

Rudolf Lioutikov, Oliver Kroemer, Guilherme Maeda and Jan Peters
Conference Paper, International Conference on Intelligent Autonomous Systems (IAS), January, 2013

Download Publication

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Learning to perform complex tasks out of a sequence of simple small demonstrations is a key ability for more flexible robots. In this paper, we present a system that allows for the acquisition of such task executions based on dynamical movement primitives (DMPs). DMPs are a successful approach to encode and generalize robot movements. However, current applications involving DMPs mainly explore movements that, although challenging in terms of dexterity and dimensionality, usually comprise a single continuous movement. This article describes the implementation of a novel system that allows sequencing of simple demonstrations, each one encoded by its own DMP, to achieve a bimanual manipulation task that is too complex to be demonstrated with a single teaching action. As the experimental results show, the resulting system can successfully accomplish a sequenced task of grasping, placing and cutting a vegetable using a setup of a bimanual robot.


@conference{Lioutikov-2013-112233,
author = {Rudolf Lioutikov and Oliver Kroemer and Guilherme Maeda and Jan Peters},
title = {Learning Manipulation by Sequencing Motor Primitives with a Two-Armed Robot},
booktitle = {International Conference on Intelligent Autonomous Systems (IAS)},
year = {2013},
month = {January},
} 2019-03-12T13:30:21-04:00