Robot Learning from Demonstration in Robotic Assembly: A Survey

Robotics

Huosheng Hu¹  Zuyuan Zhu¹ 

[1] School of Computer Science and Electronic Engineering, University of Essex, Wivenhoe Park, Colchester CO4 3SQ, UK;

关键词: learning from demonstration;    imitation learning;    robotic assembly;    machine learning;   

DOI  :  10.3390/robotics7020017

来源: DOAJ

【 摘 要 】

Learning from demonstration (LfD) has been used to help robots to implement manipulation tasks autonomously, in particular, to learn manipulation behaviors from observing the motion executed by human demonstrators. This paper reviews recent research and development in the field of LfD. The main focus is placed on how to demonstrate the example behaviors to the robot in assembly operations, and how to extract the manipulation features for robot learning and generating imitative behaviors. Diverse metrics are analyzed to evaluate the performance of robot imitation learning. Specifically, the application of LfD in robotic assembly is a focal point in this paper.

【 授权许可】

Unknown