An Incremental Learning Framework to Enhance Teaching by Demonstration Based on Multimodal Sensor Fusion | |
Li, Jie1; Zhong, Junpei4; Yang JF(杨敬锋)3; Yang, Chenguang2 | |
刊名 | FRONTIERS IN NEUROROBOTICS |
2020 | |
卷号 | 14页码:1-16 |
关键词 | incremental learning network teaching by demonstration teleoperation data fusion robot learning |
ISSN号 | 1662-5218 |
产权排序 | 3 |
英文摘要 | Though a robot can reproduce the demonstration trajectory from a human demonstrator by teleoperation, there is a certain error between the reproduced trajectory and the desired trajectory. To minimize this error, we propose a multimodal incremental learning framework based on a teleoperation strategy that can enable the robot to reproduce the demonstration task accurately. The multimodal demonstration data are collected from two different kinds of sensors in the demonstration phase. Then, the Kalman filter (KF) and dynamic time warping (DTW) algorithms are used to preprocessing the data for the multiple sensor signals. The KF algorithm is mainly used to fuse sensor data of different modalities, and the DTW algorithm is used to align the data in the same timeline. The preprocessed demonstration data are further trained and learned by the incremental learning network and sent to a Baxter robot for reproducing the task demonstrated by the human. Comparative experiments have been performed to verify the effectiveness of the proposed framework. |
语种 | 英语 |
WOS记录号 | WOS:000570386100001 |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/27677] |
专题 | 沈阳自动化研究所_广州中国科学院沈阳自动化研究所分所 |
通讯作者 | Yang, Chenguang |
作者单位 | 1.Key Laboratory of Autonomous Systems and Networked Control, School of Automation Science and Engineering, South China University of Technology, Guangzhou, China 2.Bristol Robotics Laboratory, University of the West of England, Bristol, United Kingdom 3.Shenyang Institute of Automation Guangzhou Chinese Academy of Sciences, Guangzhou, China 4.School of Science and Technology, Nottingham Trent University, Nottingham, United Kingdom |
推荐引用方式 GB/T 7714 | Li, Jie,Zhong, Junpei,Yang JF,et al. An Incremental Learning Framework to Enhance Teaching by Demonstration Based on Multimodal Sensor Fusion[J]. FRONTIERS IN NEUROROBOTICS,2020,14:1-16. |
APA | Li, Jie,Zhong, Junpei,Yang JF,&Yang, Chenguang.(2020).An Incremental Learning Framework to Enhance Teaching by Demonstration Based on Multimodal Sensor Fusion.FRONTIERS IN NEUROROBOTICS,14,1-16. |
MLA | Li, Jie,et al."An Incremental Learning Framework to Enhance Teaching by Demonstration Based on Multimodal Sensor Fusion".FRONTIERS IN NEUROROBOTICS 14(2020):1-16. |
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