An Approach to Acquire Path-Following Skills by Industrial Robots From Human Demonstration
Industrial robots have mainly been programmed by operators using teach pendants in a point-to-point scheme with limited sensing capabilities. New developments in robotics have attracted a lot of attention to robot motor skill learning via human interaction using Learning from Demonstration (LfD) tec...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2021-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9447244/ |
| _version_ | 1819103092310802432 |
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| author | Angel Rodriguez-Linan Ismael Lopez-Juarez Alan Maldonado-Ramirez Antonio Zalapa-Elias Luis Torres-Trevino Jose Luis Navarro-Gonzalez Pamela Chinas-Sanchez |
| author_facet | Angel Rodriguez-Linan Ismael Lopez-Juarez Alan Maldonado-Ramirez Antonio Zalapa-Elias Luis Torres-Trevino Jose Luis Navarro-Gonzalez Pamela Chinas-Sanchez |
| author_sort | Angel Rodriguez-Linan |
| collection | DOAJ |
| description | Industrial robots have mainly been programmed by operators using teach pendants in a point-to-point scheme with limited sensing capabilities. New developments in robotics have attracted a lot of attention to robot motor skill learning via human interaction using Learning from Demonstration (LfD) techniques. Robot skill acquisition using LfD techniques is characterised by a high-level stage in charge of learning connected actions and a low-level stage concerned with motor coordination and reproduction of an observed path. In this paper, we present an approach to acquire a path-following skill by a robot in the low-level stage which deals with the correspondence of mapping links and joints from a human operator to a robot so that the robot can actually follow a path. We present the design of an Inertial Measurement Unit (IMU) device that is primarily used as an input to acquire the robot skill. The approach is validated using a motion capture system as ground truth to assess the spatial deviation from the human-taught path to the robot’s final trajectory. |
| first_indexed | 2024-12-22T01:44:58Z |
| format | Article |
| id | doaj.art-5ce444ca213342969fb3ff6012d43049 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-22T01:44:58Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-5ce444ca213342969fb3ff6012d430492022-12-21T18:43:06ZengIEEEIEEE Access2169-35362021-01-019823518236310.1109/ACCESS.2021.30867019447244An Approach to Acquire Path-Following Skills by Industrial Robots From Human DemonstrationAngel Rodriguez-Linan0https://orcid.org/0000-0002-0204-4424Ismael Lopez-Juarez1https://orcid.org/0000-0001-6405-5519Alan Maldonado-Ramirez2Antonio Zalapa-Elias3Luis Torres-Trevino4Jose Luis Navarro-Gonzalez5Pamela Chinas-Sanchez6Universidad Autónoma de Nuevo León, Facultad de Ingeniería Mecánica y Eléctrica, San Nicolás de los Garza, MexicoCentre for Research and Advanced Studies (CINVESTAV), Ramos Arizpe, MexicoCentre for Research and Advanced Studies (CINVESTAV), Ramos Arizpe, MexicoUniversidad Autónoma de Nuevo León, Facultad de Ingeniería Mecánica y Eléctrica, San Nicolás de los Garza, MexicoUniversidad Autónoma de Nuevo León, Facultad de Ingeniería Mecánica y Eléctrica, San Nicolás de los Garza, MexicoIJ ROBOTICS, Saltillo, MexicoTecnologico Nacional de Mexico, Instituto Tecnologico de Saltillo, Saltillo, MexicoIndustrial robots have mainly been programmed by operators using teach pendants in a point-to-point scheme with limited sensing capabilities. New developments in robotics have attracted a lot of attention to robot motor skill learning via human interaction using Learning from Demonstration (LfD) techniques. Robot skill acquisition using LfD techniques is characterised by a high-level stage in charge of learning connected actions and a low-level stage concerned with motor coordination and reproduction of an observed path. In this paper, we present an approach to acquire a path-following skill by a robot in the low-level stage which deals with the correspondence of mapping links and joints from a human operator to a robot so that the robot can actually follow a path. We present the design of an Inertial Measurement Unit (IMU) device that is primarily used as an input to acquire the robot skill. The approach is validated using a motion capture system as ground truth to assess the spatial deviation from the human-taught path to the robot’s final trajectory.https://ieeexplore.ieee.org/document/9447244/Learning from demonstration (LfD)inertial measurement unit (IMU)3D trajectory acquisition |
| spellingShingle | Angel Rodriguez-Linan Ismael Lopez-Juarez Alan Maldonado-Ramirez Antonio Zalapa-Elias Luis Torres-Trevino Jose Luis Navarro-Gonzalez Pamela Chinas-Sanchez An Approach to Acquire Path-Following Skills by Industrial Robots From Human Demonstration IEEE Access Learning from demonstration (LfD) inertial measurement unit (IMU) 3D trajectory acquisition |
| title | An Approach to Acquire Path-Following Skills by Industrial Robots From Human Demonstration |
| title_full | An Approach to Acquire Path-Following Skills by Industrial Robots From Human Demonstration |
| title_fullStr | An Approach to Acquire Path-Following Skills by Industrial Robots From Human Demonstration |
| title_full_unstemmed | An Approach to Acquire Path-Following Skills by Industrial Robots From Human Demonstration |
| title_short | An Approach to Acquire Path-Following Skills by Industrial Robots From Human Demonstration |
| title_sort | approach to acquire path following skills by industrial robots from human demonstration |
| topic | Learning from demonstration (LfD) inertial measurement unit (IMU) 3D trajectory acquisition |
| url | https://ieeexplore.ieee.org/document/9447244/ |
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