Title :
Building elementary robot skills from human demonstration
Author :
Kaiser, M. ; Dillmann, R.
Author_Institution :
Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany
Abstract :
This paper presents a general approach to the acquisition of sensor-based robot skills from human demonstrations. Since human-generated examples cannot be assumed to be optimal with respect to the robot, adaptation of the initially acquired skill is explicitly considered. Results for acquiring and refining manipulation skills for a Puma 260 manipulator are given
Keywords :
knowledge acquisition; learning (artificial intelligence); learning systems; manipulators; robot programming; Puma 260 manipulator; elementary robot skill development; human demonstration; initial skill learning; sensor-based robot skills; skill acquisition; Character generation; Humans; Real time systems; Robot control; Robot sensing systems; Sensor phenomena and characterization;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506570
