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An intuitive robot learning from human demonstration

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Standard

An intuitive robot learning from human demonstration. / Ogenyi, Uchenna Emeoha; Zhang, Gongyue; Yang, Chenguang; Ju, Zhaojie; Liu, Honghai.

Intelligent Robotics and Applications: 11th International Conference, ICIRA 2018, Newcastle, NSW, Australia, August 9–11, 2018, Proceedings, Part I. ed. / Zhiyong Chen; Alexandre Mendes; Yamin Yan; Shifeng Chen. Springer, 2018. p. 176-185 (Lecture Notes in Computer Science; Vol. 10984).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Harvard

Ogenyi, UE, Zhang, G, Yang, C, Ju, Z & Liu, H 2018, An intuitive robot learning from human demonstration. in Z Chen, A Mendes, Y Yan & S Chen (eds), Intelligent Robotics and Applications: 11th International Conference, ICIRA 2018, Newcastle, NSW, Australia, August 9–11, 2018, Proceedings, Part I. Lecture Notes in Computer Science, vol. 10984, Springer, pp. 176-185, 11th International Conference on Intelligent Robotics and Applications, Newcastle, Australia, 9/08/18. https://doi.org/10.1007/978-3-319-97586-3_16

APA

Ogenyi, U. E., Zhang, G., Yang, C., Ju, Z., & Liu, H. (2018). An intuitive robot learning from human demonstration. In Z. Chen, A. Mendes, Y. Yan, & S. Chen (Eds.), Intelligent Robotics and Applications: 11th International Conference, ICIRA 2018, Newcastle, NSW, Australia, August 9–11, 2018, Proceedings, Part I (pp. 176-185). (Lecture Notes in Computer Science; Vol. 10984). Springer. https://doi.org/10.1007/978-3-319-97586-3_16

Vancouver

Ogenyi UE, Zhang G, Yang C, Ju Z, Liu H. An intuitive robot learning from human demonstration. In Chen Z, Mendes A, Yan Y, Chen S, editors, Intelligent Robotics and Applications: 11th International Conference, ICIRA 2018, Newcastle, NSW, Australia, August 9–11, 2018, Proceedings, Part I. Springer. 2018. p. 176-185. (Lecture Notes in Computer Science). https://doi.org/10.1007/978-3-319-97586-3_16

Author

Ogenyi, Uchenna Emeoha ; Zhang, Gongyue ; Yang, Chenguang ; Ju, Zhaojie ; Liu, Honghai. / An intuitive robot learning from human demonstration. Intelligent Robotics and Applications: 11th International Conference, ICIRA 2018, Newcastle, NSW, Australia, August 9–11, 2018, Proceedings, Part I. editor / Zhiyong Chen ; Alexandre Mendes ; Yamin Yan ; Shifeng Chen. Springer, 2018. pp. 176-185 (Lecture Notes in Computer Science).

Bibtex

@inproceedings{fdec9e860b5b4e7eb3f7b3568657016b,
title = "An intuitive robot learning from human demonstration",
abstract = "This paper presents a new way to teach a robot certain motions remotely from human demonstrator. The human and robot interface is built using a Kinect sensor which is connected directly to a remote computer that runs on processing software. The Cartesian coordinates are extracted, converted into joint angles and sent to the workstation for the control of the Sawyer robot. Kinesthetic teaching was used to correct the reproduced demonstrations while only valid resolved joint angles are recorded to ensure consistence in the sent data. The recorded dataset is encoded using GMM while GMR was employed to extract and reproduce generalised trajectory with respect to the associated time-step. To evaluate the proposed approach, an experiment for a robot to follow a human arm motion was performed. This proposed approach could help non-expert users to teach a robot how to perform assembling task in more human like ways.",
author = "Ogenyi, {Uchenna Emeoha} and Gongyue Zhang and Chenguang Yang and Zhaojie Ju and Honghai Liu",
year = "2018",
month = sep,
doi = "10.1007/978-3-319-97586-3_16",
language = "English",
isbn = "978-3-319-97585-6",
series = "Lecture Notes in Computer Science",
publisher = "Springer",
pages = "176--185",
editor = "Zhiyong Chen and Alexandre Mendes and Yamin Yan and Shifeng Chen",
booktitle = "Intelligent Robotics and Applications",
note = "11th International Conference on Intelligent Robotics and Applications, ICIRA 2018 ; Conference date: 09-08-2018 Through 11-08-2018",
url = "http://www.icira2018.org",

}

RIS

TY - GEN

T1 - An intuitive robot learning from human demonstration

AU - Ogenyi, Uchenna Emeoha

AU - Zhang, Gongyue

AU - Yang, Chenguang

AU - Ju, Zhaojie

AU - Liu, Honghai

PY - 2018/9

Y1 - 2018/9

N2 - This paper presents a new way to teach a robot certain motions remotely from human demonstrator. The human and robot interface is built using a Kinect sensor which is connected directly to a remote computer that runs on processing software. The Cartesian coordinates are extracted, converted into joint angles and sent to the workstation for the control of the Sawyer robot. Kinesthetic teaching was used to correct the reproduced demonstrations while only valid resolved joint angles are recorded to ensure consistence in the sent data. The recorded dataset is encoded using GMM while GMR was employed to extract and reproduce generalised trajectory with respect to the associated time-step. To evaluate the proposed approach, an experiment for a robot to follow a human arm motion was performed. This proposed approach could help non-expert users to teach a robot how to perform assembling task in more human like ways.

AB - This paper presents a new way to teach a robot certain motions remotely from human demonstrator. The human and robot interface is built using a Kinect sensor which is connected directly to a remote computer that runs on processing software. The Cartesian coordinates are extracted, converted into joint angles and sent to the workstation for the control of the Sawyer robot. Kinesthetic teaching was used to correct the reproduced demonstrations while only valid resolved joint angles are recorded to ensure consistence in the sent data. The recorded dataset is encoded using GMM while GMR was employed to extract and reproduce generalised trajectory with respect to the associated time-step. To evaluate the proposed approach, an experiment for a robot to follow a human arm motion was performed. This proposed approach could help non-expert users to teach a robot how to perform assembling task in more human like ways.

U2 - 10.1007/978-3-319-97586-3_16

DO - 10.1007/978-3-319-97586-3_16

M3 - Conference contribution

SN - 978-3-319-97585-6

T3 - Lecture Notes in Computer Science

SP - 176

EP - 185

BT - Intelligent Robotics and Applications

A2 - Chen, Zhiyong

A2 - Mendes, Alexandre

A2 - Yan, Yamin

A2 - Chen, Shifeng

PB - Springer

T2 - 11th International Conference on Intelligent Robotics and Applications

Y2 - 9 August 2018 through 11 August 2018

ER -

ID: 11484873