2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids) 2015
DOI: 10.1109/humanoids.2015.7363584
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Probabilistic segmentation applied to an assembly task

Abstract: Abstract-Movement primitives are a well established approach for encoding and executing robot movements. While the primitives themselves have been extensively researched, the concept of movement primitive libraries has not received as much attention. Libraries of movement primitives represent the skill set of an agent and can be queried and sequenced in order to solve specific tasks. The goal of this work is to segment unlabeled demonstrations into an optimal set of skills. Our novel approach segments the demo… Show more

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Cited by 35 publications
(31 citation statements)
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“…We believe this method works well in limited scenes; however, there are many motions, such as gestures and dances, in which objects are not manipulated. Lioutikov et al proposed unsupervised segmentation; however, to reduce computational costs, this technique requires the possible boundary candidates between motion primitives to be specified in advance (Lioutikov et al, 2015 ). Therefore, the segmentation depends on those candidates, and motions cannot be segmented correctly if the correct candidates are not selected.…”
Section: Related Workmentioning
confidence: 99%
“…We believe this method works well in limited scenes; however, there are many motions, such as gestures and dances, in which objects are not manipulated. Lioutikov et al proposed unsupervised segmentation; however, to reduce computational costs, this technique requires the possible boundary candidates between motion primitives to be specified in advance (Lioutikov et al, 2015 ). Therefore, the segmentation depends on those candidates, and motions cannot be segmented correctly if the correct candidates are not selected.…”
Section: Related Workmentioning
confidence: 99%
“…For multistep robotic assembly tasks like peg-in-hole [ 25 ] and chair assembly [ 26 , 27 ], encoding whole movements with one movement primitive is unrealistic. Whole movements are supposed to be represented by a sequence of movement primitives explaining human demonstrations, and after movement segmentation, robots can reuse and reorder the same set of movement primitives to accomplish similar but different robotic tasks without external demonstrations.…”
Section: Introductionmentioning
confidence: 99%
“…Whole movements are supposed to be represented by a sequence of movement primitives explaining human demonstrations, and after movement segmentation, robots can reuse and reorder the same set of movement primitives to accomplish similar but different robotic tasks without external demonstrations. Previous work in movement segmentation including methods based on heuristic [ 12 ] and unsupervised learning [ 26 , 27 ]. Heuristic-based methods utilize the prior knowledge of robot kinematic and dynamics properties.…”
Section: Introductionmentioning
confidence: 99%
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“…Moreover, some methods use motion features such as the zero velocity of joint angles (Fod et al, 2002;Shiratori et al, 2004;Lin et al, 2012). However, this assumption typically induces over-segmentation (Lioutikov et al, 2015).…”
Section: Introductionmentioning
confidence: 99%