Learning and Composing Primitive Skills for Dual-arm Manipulation

05/25/2019
by   Èric Pairet, et al.
0

In an attempt to confer robots with complex manipulation capabilities, dual-arm anthropomorphic systems have become an important research topic in the robotics community. Most approaches in the literature rely upon a great understanding of the dynamics underlying the system's behaviour and yet offer limited autonomous generalisation capabilities. To address these limitations, this work proposes a modelisation for dual-arm manipulators based on dynamic movement primitives laying in two orthogonal spaces. The modularity and learning capabilities of this model are leveraged to formulate a novel end-to-end learning-based framework which (i) learns a library of primitive skills from human demonstrations, and (ii) composes such knowledge simultaneously and sequentially to confront novel scenarios. The feasibility of the proposal is evaluated by teaching the iCub humanoid the basic skills to succeed on simulated dual-arm pick-and-place tasks. The results suggest the learning and generalisation capabilities of the proposed framework extend to autonomously conduct undemonstrated dual-arm manipulation tasks.

READ FULL TEXT

page 2

page 10

research
04/02/2019

Learning and Generalisation of Primitives Skills Towards Robust Dual-arm Manipulation

Robots are becoming a vital ingredient in society. Some of their daily t...
research
10/08/2021

Learning to Centralize Dual-Arm Assembly

Even though industrial manipulators are widely used in modern manufactur...
research
12/02/2022

Prim-LAfD: A Framework to Learn and Adapt Primitive-Based Skills from Demonstrations for Insertion Tasks

Learning generalizable insertion skills in a data-efficient manner has l...
research
04/07/2023

ShakingBot: Dynamic Manipulation for Bagging

Bag manipulation through robots is complex and challenging due to the de...
research
10/28/2022

Interactive Imitation Learning of Bimanual Movement Primitives

Performing bimanual tasks with dual robotic setups can drastically incre...
research
10/15/2021

Dual-Arm Adversarial Robot Learning

Robot learning is a very promising topic for the future of automation an...
research
03/12/2023

FabricFolding: Learning Efficient Fabric Folding without Expert Demonstrations

Autonomous fabric manipulation is a challenging task due to complex dyna...

Please sign up or login with your details

Forgot password? Click here to reset