| DOI | Resolve DOI: https://doi.org/10.1016/j.robot.2017.09.012 |
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| Author | Search for: Vakanski, Aleksandar; Search for: Janabi-sharifi, Farrokh; Search for: Mantegh, Iraj1 |
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| Name affiliation | - National Research Council of Canada. Aerospace
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| Format | Text, Article |
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| Subject | cognitive robotics; visual servoing; programming by demonstration |
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| Abstract | The article proposes a new robot programming-by-demonstration framework, which integrates a visual servoing tracking control to robustly follow a trajectory generated from observed demonstrations. The constraints originating from the use of a visual servoing controller are incorporated into the trajectory learning phase, to guarantee feasibility of the generated plan for task execution. The observational learning is solved as a constrained optimization problem, with an objective to generalize from a set of trajectories of salient features in the image space of a vision camera. The proposed approach is evaluated experimentally for learning trajectories acquired from kinesthetic demonstrations. |
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| Publication date | 2017-10-10 |
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| Publisher | Elsevier |
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| In | |
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| Language | English |
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| Peer reviewed | Yes |
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| NPARC number | 23002471 |
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| Export citation | Export as RIS |
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| Report a correction | Report a correction (opens in a new tab) |
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| Record identifier | 5160ad26-4a9a-4435-87a5-8c1f9f45f136 |
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| Record created | 2017-11-15 |
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| Record modified | 2020-03-16 |
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