An image-based trajectory planning approach for robust robot programming by demonstration

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DOIResolve DOI: http://doi.org/10.1016/j.robot.2017.09.012
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TypeArticle
Journal titleRobotics and Autonomous Systems
ISSN0921-8890
Volume98
Pages241257
Subjectcognitive robotics; visual servoing; programming by demonstration
AbstractThe article proposes a new robot programming-by-demonstration framework, which integrates a visual servoing tracking control to robustly follow a trajectory generated from observed demonstrations. The constraints originating from the use of a visual servoing controller are incorporated into the trajectory learning phase, to guarantee feasibility of the generated plan for task execution. The observational learning is solved as a constrained optimization problem, with an objective to generalize from a set of trajectories of salient features in the image space of a vision camera. The proposed approach is evaluated experimentally for learning trajectories acquired from kinesthetic demonstrations.
Publication date
PublisherElsevier
LanguageEnglish
AffiliationAerospace; National Research Council Canada
Peer reviewedYes
NPARC number23002471
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Record identifier5160ad26-4a9a-4435-87a5-8c1f9f45f136
Record created2017-11-15
Record modified2017-11-15
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