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Robot Learning from Demonstration by Averaging Trajectories - Pouring into the Cup


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Title Robot Learning from Demonstration by Averaging Trajectories - Pouring into the Cup
Title of Series Robotics - Hochschule Ravensburg-Weingarten
Author Ertel, Wolfgang
Contributors The Institute for Artificial Intelligence (IKI)
Autonome mobile Serviceroboter Standort Ravensburg-Weingarten, Zentrum für angewandte Forschung an Fachhochschulen
Posenauer, Heiko
License CC Attribution - NonCommercial - NoDerivatives 3.0 Germany:
You are free to use, copy, distribute and transmit the work or content in unchanged form for any legal and non-commercial purpose as long as the work is attributed to the author in the manner specified by the author or licensor.
DOI 10.5446/30630
Publisher Hochschule Ravensburg-Weingarten
Release Date 2012
Language English

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Subject Area Engineering
Abstract Learning from Demonstration by Averaging Trajectories (LAT) has been implemented using a Katana robotic manipulator. LAT works in three phases: Demonstration: Repeated recording of trajectories and detection of involved objects (located at changing positions). Generalisation: Creation of a continuos behaviour model on trajectory level for each object involved. Reproduction: Fusion of the models, adapted to an arbitrary new situation where all the objects again can be located at different positions.


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