Bimanual coordinated task execution
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In this work we execute bimanual coordinated tasks learned from human demonstrations that we exemplify on a real-life peeling task. We record kinesthetic demonstrations of the task, that we segment using a BP-HMM approach. Then for each action we extract task-space constraints consisting of the reference frame, axis specific control variables and stiffness modulation. Based on this information we learn models encoding the motion, force and stiffness profiles. The sequence of actions, their corresponding constraints and models form the Task Prototype. Finally the robot executes the task autonomously based on the extracted prototype.
This work was developed as part of the Robohow EU project.
Papers related to this work:
Figueroa N., Billard A. (2016) On discovering structure in heterogeneous, unstructured and sequential tasks from demonstrations, [In preparation for JMLR]
Pais Ureche A. L., Umezawa K, Nakamura Y, Billard A (2015) Task parameterization using continuous constraints extracted from human demonstrations, IEEE Transactions on Robotics, 31(6):1458–1471, [TRO 2015] http://ieeexplore.ieee.org/stamp/stam...
Pais Ureche A. L., Billard A. (2016) Constraints extraction from asymmetrical bimanual tasks and their use in coordinated behavior, [In preparation]