Robot composite learning and the nunchaku flipping challenge

Document Type

Conference Proceeding

Publication Date

9-10-2018

Abstract

Advanced motor skills are essential for robots to physically coexist with humans. Much research on robot dynamics and control has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous manner, robot learning from human demonstration (LfD) has achieved great progress, but still has limitations handling dynamic skills and compound actions. We present a composite learning scheme which goes beyond LfD and integrates robot learning from human definition, demonstration, and evaluation. The method tackles advanced motor skills that require dynamic time-critical maneuver, complex contact control, and handling partly soft partly rigid objects. We also introduce the 'nunchaku flipping challenge', an extreme test that puts hard requirements to all these three aspects. Continued from our previous presentations, this paper introduces the latest update of the composite learning scheme and the physical success of the nunchaku flipping challenge.

Identifier

85063148030 (Scopus)

ISBN

[9781538630815]

Publication Title

Proceedings IEEE International Conference on Robotics and Automation

External Full Text Location

https://doi.org/10.1109/ICRA.2018.8461141

ISSN

10504729

First Page

3160

Last Page

3165

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