基于力的机器人技能示范学习方法的比较

Aljaz Kramberger
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引用次数: 3

摘要

用于非结构化环境中机器人操作的传统编程技术不适用于类人机器人的执行。在本文中,我们提出了三种不同的示范学习技术的比较。提出并分析了学习数据的基于力的表示。验证实验结果的作用可以与钉孔作用有关。结果表明哪一种方法最适合用于指定的任务。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A comparison of learning-by-demonstration methods for force-based robot skills
Conventional programming techniques for robotic operations in unstructured environments are not suitable for human-like robot executions. In this paper we present a comparison of three different learning-by-demonstration techniques. A force-based representation of the learned data is presented and analyzed. The action to verify the experimental results can be related to Peg-in-Hole action. The results show which method is the most suitable to use for the specified task.
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