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A framework for robotic clothing assistance by imitation learning
http://hdl.handle.net/10228/00007822
http://hdl.handle.net/10228/0000782203f657bd-295d-4da9-ba35-8994ccb34b5e
| 名前 / ファイル | ライセンス | アクション |
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10343576.pdf (4.8 MB)
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| アイテムタイプ | 学術雑誌論文 = Journal Article(1) | |||||||||||
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| 公開日 | 2020-07-13 | |||||||||||
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| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||
| 資源タイプ | journal article | |||||||||||
| タイトル | ||||||||||||
| タイトル | A framework for robotic clothing assistance by imitation learning | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 著者 |
oshi, R. P.
× oshi, R. P.× Koganti, N.× 柴田, 智広
WEKO
27592
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | The recent demographic trend across developed nations shows a dramatic increase in the aging population, fallen fertility rates and a shortage of caregivers. Hence, the demand for service robots to assist with dressing which is an essential Activity of Daily Living (ADL) is increasing rapidly. Robotic Clothing Assistance is a challenging task since the robot has to deal with two demanding tasks simultaneously, (a) non-rigid and highly flexible cloth manipulation and (b) safe human–robot interaction while assisting humans whose posture may vary during the task. On the other hand, humans can deal with these tasks rather easily. In this paper, we propose a framework for robotic clothing assistance by imitation learning from a human demonstration to a compliant dual-arm robot. In this framework, we divide the dressing task into three phases, i.e. reaching phase, arm dressing phase, and body dressing phase. We model the arm dressing phase as a global trajectory modification using Dynamic Movement Primitives (DMP), while we model the body dressing phase toward a local trajectory modification applying Bayesian Gaussian Process Latent Variable Model (BGPLVM). We show that the proposed framework developed towards assisting the elderly is generalizable to various people and successfully performs a sleeveless shirt dressing task. We also present participants feedback on public demonstration at the International Robot Exhibition (iREX) 2017. To our knowledge, this is the first work performing a full dressing of a sleeveless shirt on a human subject with a humanoid robot. | |||||||||||
| 言語 | en | |||||||||||
| 書誌情報 |
en : Advanced Robotics 巻 33, 号 22, p. 1156-1174, 発行日 2019-07-09 |
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| 出版社 | ||||||||||||
| 出版者 | Taylor & Francis | |||||||||||
| DOI | ||||||||||||
| 関連タイプ | isVersionOf | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | https://doi.org/10.1080/01691864.2019.1636715 | |||||||||||
| ISSN | ||||||||||||
| 収録物識別子タイプ | PISSN | |||||||||||
| 収録物識別子 | 0169-1864 | |||||||||||
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| 収録物識別子タイプ | EISSN | |||||||||||
| 収録物識別子 | 1568-5535 | |||||||||||
| 著作権関連情報 | ||||||||||||
| 権利情報 | This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 2019-07-09 available online:http://www.tandfonline.com/10.1080/01691864.2019.1636715. | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | Robotic clothing assistance | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | imitation learning | |||||||||||
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| 主題Scheme | Other | |||||||||||
| 主題 | DMP | |||||||||||
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| 主題Scheme | Other | |||||||||||
| 主題 | BGPLVM | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | service robot | |||||||||||
| 出版タイプ | ||||||||||||
| 出版タイプ | AM | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||||
| 査読の有無 | ||||||||||||
| 値 | yes | |||||||||||
| 研究者情報 | ||||||||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/100000703_ja.html | |||||||||||
| 論文ID（連携） | ||||||||||||
| 値 | 10343576 | |||||||||||
| 連携ID | ||||||||||||
| 値 | 8212 | |||||||||||
