In this paper, we address the problem of deploying a wire along a specific path selected by an unskilled user. The robot has to learn the selected path and pass a wire through the peg table by using the same tool. The main contribution regards the hybrid use of Cartesian positions provided by a learning procedure and joint positions obtained by inverse kinematics and motion planning. Some constraints are introduced to deal with non-rigid material without breaks or knots. We took into account a series of metrics to evaluate the robot learning capabilities, all of them over performed the targets.
How to Deploy a Wire with a Robotic Platform: Learning from Human Visual Demonstrations
Stival, Francesca;Michieletto, Stefano;Pagello, Enrico
2017
Abstract
In this paper, we address the problem of deploying a wire along a specific path selected by an unskilled user. The robot has to learn the selected path and pass a wire through the peg table by using the same tool. The main contribution regards the hybrid use of Cartesian positions provided by a learning procedure and joint positions obtained by inverse kinematics and motion planning. Some constraints are introduced to deal with non-rigid material without breaks or knots. We took into account a series of metrics to evaluate the robot learning capabilities, all of them over performed the targets.File in questo prodotto:
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