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User intent estimation during robot learning using physical human robot interaction primitives
http://hdl.handle.net/10061/0002000128
http://hdl.handle.net/10061/0002000128c95dcf10-8f7c-4168-93e5-8fc9be65e02c
| アイテムタイプ | 学術雑誌論文 / Journal Article(1) | |||||||||||
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| 公開日 | 2024-02-16 | |||||||||||
| タイトル | ||||||||||||
| タイトル | User intent estimation during robot learning using physical human robot interaction primitives | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | Physical human$2013robot interaction | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | Learning from demonstration | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ | journal article | |||||||||||
| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| 著者 |
Lai, Yujun
× Lai, Yujun
× Paul, Gavin
× Cui, Yunduan
× 松原, 崇充 |
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | As robotic systems transition from traditional setups to collaborative work spaces, the prevalence of physical Human Robot Interaction has risen in both industrial and domestic environments. A popular representation for robot behavior is movement primitives which learn, imitate, and generalize from expert demonstrations. While there are existing works in context-aware movement primitives, they are usually limited to contact-free human robot interactions. This paper presents physical Human Robot Interaction Primitives (pHRIP), which utilize only the interaction forces between the human user and robot to estimate user intent and generate the appropriate robot response during physical human robot interactions. The efficacy of pHRIP is evaluated through multiple experiments based on target-directed reaching and obstacle avoidance tasks using a real seven degree of freedom robot arm. The results are validated against Interaction Primitives which use observations of robotic trajectories, with discussions of future pHRI applications utilizing pHRIP. | |||||||||||
| 書誌情報 |
en : Autonomous Robots 巻 46, 号 2, p. 421-436, 発行日 2022-01-15 |
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| 出版者 | ||||||||||||
| 出版者 | Springer | |||||||||||
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| 収録物識別子タイプ | EISSN | |||||||||||
| 収録物識別子 | 1573-7527 | |||||||||||
| 出版者版DOI | ||||||||||||
| 関連タイプ | isReplacedBy | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | https://doi.org/10.1007/s10514-021-10030-9 | |||||||||||
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| 関連タイプ | isReplacedBy | |||||||||||
| 識別子タイプ | URI | |||||||||||
| 関連識別子 | https://link.springer.com/article/10.1007/s10514-021-10030-9 | |||||||||||
| 権利 | ||||||||||||
| 権利情報Resource | http://creativecommons.org/licenses/by/4.0/ | |||||||||||
| 権利情報 | $00A9 The Author(s) 2022 This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/. | |||||||||||
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| 出版タイプ | NA | |||||||||||
