Recuperación a fallos de ejecución en programacion por demostracion de robots usando multiples modelos (Execution Fault Recovery in Robot Programming by Demonstration Using Multiple Models)

Jose Hoyos (josegabrielh@uniquindio.edu.co)1, Flavio Prieto (faprieto@unal.edu.co)2, Guillem Alenya (galenya@iri.upc.edu)3, Carme Torras (torras@iri.upc.edu)3


1Universidad del Quindio
2Universidad Nacional de Colombia
3Universidad Politecnica de Catalunya

This paper appears in: Revista IEEE América Latina

Publication Date: Feb. 2016
Volume: 14,   Issue: 2 
ISSN: 1548-0992


Abstract:
Deformable object (e.g., clothes) manipulation by a robot in interaction with a human being presents several interesting challenges. Due to texture and deformability, the object can get hooked in the human limbs. Moreover, the human can change their limbs position and curvature, which require changes in the paths to be followed by the robot. To help solve these problems, in this paper we propose a technique of learning by demonstration able to adapt to changes in position and curvature of the object (human limb) and recover from execution faults (hooks). The technique is tested using simulations, but with data obtained from a real robot.

Index Terms:
Robot programming by Demonstration, Robot Fault Recovery.   


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