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Martínez-Salvador, Begoña; Pérez-Francisco, Miguel; Pobil, Ángel P. del

doi:10.1023/a:1026252228930

Cited by 21 publications

(3 citation statements)

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“…Although the approach was applied to extract a human's intention, the flow tube representation can be seen as a special case of TLGC in which the crosssections are formed using the covariance data. Generalized cylinders have been used in the context of providing safe humanrobot interaction (Martínez-Salvador et al, 2003;Corrales et al, 2011). To avoid collisions between a robot arm and a human, Martínez-Salvador et al (2003) used GCs to build a spatial model and proposed a computationally effective method for collision checking.…”

Section: Related Workmentioning

confidence: 99%

“…Generalized cylinders have been used in the context of providing safe humanrobot interaction (Martínez-Salvador et al, 2003;Corrales et al, 2011). To avoid collisions between a robot arm and a human, Martínez-Salvador et al (2003) used GCs to build a spatial model and proposed a computationally effective method for collision checking. In the approach proposed by Corrales et al (2011), however, the shape of the GCs representing the robot also changes according to the robot's speed.…”

Section: Related Workmentioning

confidence: 99%

“…In robotics, generalized cylinders have been used for finding flyable paths for unmanned aerial vehicles (Shanmugavel et al, 2007). They also have been used for collision detection during physical human-robot interaction (Martínez-Salvador et al, 2003;Corrales et al, 2011). To our knowledge, this is the first application of generalized cylinders to skill learning for manipulation.…”

Section: Introductionmentioning

confidence: 99%

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Trajectory-Based Skill Learning Using Generalized Cylinders

Ahmadzadeh

Chernova

2018

Front. Robot. AI

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In this article, we introduce Trajectory Learning using Generalized Cylinders (TLGC), a novel trajectory-based skill learning approach from human demonstrations. To model a demonstrated skill, TLGC uses a Generalized Cylinder-a geometric representation composed of an arbitrary space curve called the spine and a surface with smoothly varying cross-sections. Our approach is the first application of Generalized Cylinders to manipulation, and its geometric representation offers several key features: it identifies and extracts the implicit characteristics and boundaries of the skill by encoding the demonstration space, it supports for generation of multiple skill reproductions maintaining those characteristics, the constructed model can generalize the skill to unforeseen situations through trajectory editing techniques, our approach also allows for obstacle avoidance and interactive human refinement of the resulting model through kinesthetic correction. We validate our approach through a set of real-world experiments with both a Jaco 6-DOF and a Sawyer 7-DOF robotic arm.

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Section: Related Workmentioning

confidence: 99%