TY - GEN
T1 - Robot composite learning and the nunchaku flipping challenge
AU - Zhao, Leidi
AU - Zhao, Yiwen
AU - Patil, Siddharth
AU - Davies, Dylan
AU - Wang, Cong
AU - Lu, Lu
AU - Ouyang, Bo
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - Advanced motor skills are essential for robots to physically coexist with humans. Much research on robot dynamics and control has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous manner, robot learning from human demonstration (LfD) has achieved great progress, but still has limitations handling dynamic skills and compound actions. We present a composite learning scheme which goes beyond LfD and integrates robot learning from human definition, demonstration, and evaluation. The method tackles advanced motor skills that require dynamic time-critical maneuver, complex contact control, and handling partly soft partly rigid objects. We also introduce the 'nunchaku flipping challenge', an extreme test that puts hard requirements to all these three aspects. Continued from our previous presentations, this paper introduces the latest update of the composite learning scheme and the physical success of the nunchaku flipping challenge.
AB - Advanced motor skills are essential for robots to physically coexist with humans. Much research on robot dynamics and control has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous manner, robot learning from human demonstration (LfD) has achieved great progress, but still has limitations handling dynamic skills and compound actions. We present a composite learning scheme which goes beyond LfD and integrates robot learning from human definition, demonstration, and evaluation. The method tackles advanced motor skills that require dynamic time-critical maneuver, complex contact control, and handling partly soft partly rigid objects. We also introduce the 'nunchaku flipping challenge', an extreme test that puts hard requirements to all these three aspects. Continued from our previous presentations, this paper introduces the latest update of the composite learning scheme and the physical success of the nunchaku flipping challenge.
UR - http://www.scopus.com/inward/record.url?scp=85063148030&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85063148030&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8461141
DO - 10.1109/ICRA.2018.8461141
M3 - Conference contribution
AN - SCOPUS:85063148030
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3160
EP - 3165
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -