Programming of a Mobile Robotic Manipulator through Demonstration

Lorenzo Peppoloni, Alessandro Di Fava

Abstract

This paper presents an integrated robotic system capable of learning and executing manipulation tasks from a single human user’s demonstration. The system capabilities are threefold. The system learns tasks from perceptual stimuli, models and stores the information in the form of semantic knowledge. The system may employ the model achieved to execute task in an way similar to the example shown and adapt the motion to robot own constraints in terms of physical limits and interferences. The system integrates perception and action algorithms in order to autonomously extrapolate the context in which to operate. It robustly changes its behavior according to the environment evolution. The performances of the system have been verified through a series of tests. The tests run on the Kuka youBot platform and all the tools and algorithms are integrated into Willow Garage ”Robotic Operating System” (ROS).

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Paper Citation


in Harvard Style

Peppoloni L. and Di Fava A. (2012). Programming of a Mobile Robotic Manipulator through Demonstration . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 468-471. DOI: 10.5220/0004041004680471


in Bibtex Style

@conference{icinco12,
author={Lorenzo Peppoloni and Alessandro Di Fava},
title={Programming of a Mobile Robotic Manipulator through Demonstration},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={468-471},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004041004680471},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Programming of a Mobile Robotic Manipulator through Demonstration
SN - 978-989-8565-22-8
AU - Peppoloni L.
AU - Di Fava A.
PY - 2012
SP - 468
EP - 471
DO - 10.5220/0004041004680471