| DOI | Trouver le DOI : https://doi.org/10.1016/j.robot.2017.09.012 |
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| Auteur | Rechercher : Vakanski, Aleksandar; Rechercher : Janabi-sharifi, Farrokh; Rechercher : Mantegh, Iraj1 |
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| Affiliation | - Conseil national de recherches du Canada. Aérospatiale
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| Format | Texte, Article |
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| Sujet | cognitive robotics; visual servoing; programming by demonstration |
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| Résumé | 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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| Date de publication | 2017-10-10 |
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| Maison d’édition | Elsevier |
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| Dans | |
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| Langue | anglais |
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| Publications évaluées par des pairs | Oui |
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| Numéro NPARC | 23002471 |
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| Exporter la notice | Exporter en format RIS |
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| Signaler une correction | Signaler une correction (s'ouvre dans un nouvel onglet) |
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| Identificateur de l’enregistrement | 5160ad26-4a9a-4435-87a5-8c1f9f45f136 |
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| Enregistrement créé | 2017-11-15 |
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| Enregistrement modifié | 2020-03-16 |
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