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キーワード:
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要旨:
Programming-by-demonstration promises to significantly reduce the burden of coding robots to perform new tasks. However, service robots will be presented with a variety of different situations that were not specifically
demonstrated to it. In such cases, the robot must autonomously generalize its learned motions to these new situations. We propose a system that can generalize movements to new target locations and even new objects. The former is achieved by using a task-specific coordinate system together with dynamical systems motor primitives. Generalizing actions to new
objects is a more complex problem, which we solve by treating it as a
continuum-armed bandits problem. Using the bandits framework, we can
efficiently optimize the learned action for a specific object. The proposed method was implemented on a real robot and succesfully adapted the grasping action to three different objects. Although we focus on grasping as an example of a task, the proposed methods are much more widely applicable to robot manipulation tasks.
