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Learning Manipulation by Sequencing Motor Primitives with a Two-Armed Robot

Rudolf Lioutikov; Oliver Kroemer; Guilherme Maeda; Jan Peters
In: Emanuele Menegatti; Nathan Michael; Karsten Berns; Hiroaki Yamaguchi (Hrsg.). Intelligent Autonomous Systems 13. International Conference on Intelligent Autonomous Systems (IAS-13), Proceedings of the 13th International Conference, July 15-18, Padova, Italy, Pages 1601-1611, Advances in Intelligent Systems and Computing, Vol. 302, Springer, 2014.


Learning to perform complex tasks out of a sequenceLioutikov, Rudolf of simple small demonstrations is a key ability for more flexible robots. In this paper, we present a system that allows for theKroemer, Oliver acquisition of such task executions based on dynamical movement primitives (DMPs). DMPs are a successful approach to encode and generalize robot movements. However, current applications involving DMPs mainlyMaeda, Guilherme explore movements that, although challenging in terms of dexterity and dimensionality, usually comprise a single continuous movement. This article describes the implementation of a novel system that allows sequencing of simple demonstrations, each one encoded by its own DMP, to achieve a bimanual manipulation task that is too complex to be demonstrated with a single teaching action. As the experimental results show, the resulting system can successfully accomplish a sequenced task of grasping, placing and cutting a vegetable using a setup of a bimanual robot.

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