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Force Based Skill Learning for Robot Tasks in Contact Conditions |
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| Authors: | WANG Qin MEI Zhi-qian ZHANG Guang-li and YANG Ru-qing |
| Affiliation: | Research Institution of Robotics, Shanghai Jiaotong University, Shanghai 200030, China;Research Institution of Robotics, Shanghai Jiaotong University, Shanghai 200030, China;Research Institution of Robotics, Shanghai Jiaotong University, Shanghai 200030, China;Research Institution of Robotics, Shanghai Jiaotong University, Shanghai 200030, China |
| Abstract: | To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has different force distribution, a support vector machine classifier is built to identify the contact conditions according to the force signal. Finally, the robot can obtain the skill from the human demonstration. |
| Keywords: | robot contact state support vector machine (SVM) prograing by demonstration (PBD) |
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