WEKO3
アイテム
Learning Interactive Behaviors for Musculoskeletal Robots Using Bayesian Interaction Primitives
http://hdl.handle.net/10228/00008255
http://hdl.handle.net/10228/0000825547adfc94-c8a5-4772-b621-0e24836dc5b3
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
10352619.pdf (5.2 MB)
|
|
| Item type | 学術雑誌論文 = Journal Article(1) | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 公開日 | 2021-05-17 | |||||||||||||
| 資源タイプ | ||||||||||||||
| 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 | Learning Interactive Behaviors for Musculoskeletal Robots Using Bayesian Interaction Primitives | |||||||||||||
| 言語 | en | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 著者 |
Campbell, Joseph
× Campbell, Joseph× Hitzmann, Arne× Stepputtis, Simon× 池本, 周平
WEKO
30354
× Hosoda, Koh× Amor, Heni Ben |
|||||||||||||
| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | Musculoskeletal robots that are based on pneumatic actuation have a variety of properties, such as compliance and back-drivability, that render them particularly appealing for human-robot collaboration. However, programming interactive and responsive behaviors for such systems is extremely challenging due to the nonlinearity and uncertainty inherent to their control. In this paper, we propose an approach for learning Bayesian Interaction Primitives for musculoskeletal robots given a limited set of example demonstrations. We show that this approach is capable of real-time state estimation and response generation for interaction with a robot for which no analytical model exists. Human-robot interaction experiments on a 'handshake' task show that the approach generalizes to new positions, interaction partners, and movement velocities. | |||||||||||||
| 言語 | en | |||||||||||||
| 備考 | ||||||||||||||
| 内容記述タイプ | Other | |||||||||||||
| 内容記述 | IEEE/RSJ International Conference on Intelligent Robots and Systems (iROS2019), November 4 - 8, 2019, Macau, China | |||||||||||||
| 書誌情報 |
en : 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) p. 5071-5078, 発行日 2020-01-27 |
|||||||||||||
| 出版社 | ||||||||||||||
| 出版者 | IEEE | |||||||||||||
| DOI | ||||||||||||||
| 関連タイプ | isVersionOf | |||||||||||||
| 識別子タイプ | DOI | |||||||||||||
| 関連識別子 | https://doi.org/10.1109/IROS40897.2019.8967845 | |||||||||||||
| ISBN | ||||||||||||||
| 識別子タイプ | ISBN | |||||||||||||
| 関連識別子 | 978-1-7281-4004-9 | |||||||||||||
| ISBN | ||||||||||||||
| 識別子タイプ | ISBN | |||||||||||||
| 関連識別子 | 978-1-7281-4003-2 | |||||||||||||
| ISBN | ||||||||||||||
| 識別子タイプ | ISBN | |||||||||||||
| 関連識別子 | 978-1-7281-4005-6 | |||||||||||||
| 日本十進分類法 | ||||||||||||||
| 主題Scheme | NDC | |||||||||||||
| 主題 | 501 | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | EISSN | |||||||||||||
| 収録物識別子 | 2153-0866 | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | PISSN | |||||||||||||
| 収録物識別子 | 2153-0858 | |||||||||||||
| 著作権関連情報 | ||||||||||||||
| 権利情報 | Copyright (c) 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | |||||||||||||
| 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/100001226_ja.html | |||||||||||||
| 論文ID（連携） | ||||||||||||||
| 値 | 10352619 | |||||||||||||
| 連携ID | ||||||||||||||
| 値 | 8837 | |||||||||||||
