Programming by demonstration of the sequence of tightening a nut allowing variations in tool position
Journal Title: TecnoLógicas - Year 2016, Vol 19, Issue 36
Abstract
A technique of programming by demonstration of a robot is proposed. Such a technique allows that a robot execute sequential or complex tasks. It uses a combination of Petri nets and task parameterized Gaussian mixture models. The first one handles the task sequence, while the second one allows variations in the position and orientation of objects involved in the task. Using a segmentation task technique, the demonstration is chunked in subtasks. With the subtasks sequence, an action list or plan is obtained and with this, a Petri net is automatically generate. Models of the templates of each subtasks and task parameterized Gaussian mixture models of the subtask that we want to allow variations are also provide to the technique. A function compare one each of the template trajectory with the task parameterized model response trajectory and the most similar indicate that instead of the template, the task parameterized model is use. Through the use of a homemade robot, which executes the task of tightening a nut, the performance of the technique is illustrated by using figures.
Authors and Affiliations
José G. Hoyos-Gutiérrez, Flavio A. Prieto-Ortiz
Time-frequency representations from inertial sensors to characterize the gait in Parkinson’s disease
Parkinson’s Disease (PD) is a neurodegenerative disorder of the central nervous system whose main symptoms include rigidity, bradykinesia, and loss of postural reflexes. PD diagnosis is based on an analys...
Assessing the Contribution of Covariance Information to the Electroencephalographic Signals of Brain–Computer Interfaces for Spinal Cord Injury Patients
Non-invasive EEG-based motor imagery brain–computer interfaces (miBCIs) promise to effectively restore the motor control of motor-impaired patients with conditions that include Spinal Cord Injury (SCI). Nonetheless, miBC...
Evaluation of a statistical model for estimating the solar radiation in Magdalena, Colombia
The global solar radiation is an important meteorological parameter for understanding the biochemical processes in the environment. Their measurement is complex and requires a high cost of installation, operation and mai...
Analysis of the efficiency of a virtualoptical multiplexing method, by using theta modulation
We present an efficient virtual-optical multiplexing method for compressing information contained in gray level images. The efficiency is measured using three parameters: quality factors of...
Application of CE QUAL-W2 Model: An Approach to the Thermal Structure in the Miguel Martínez Isaza reservoir, Concordia, Antioquia, Colombia
Hydrodynamic modelling of temperature is a tool that contributes to the management of reservoirs because it is possible to create scenarios with different conditions to predict the behavior facing the meteorological chan...