Segmentation of Robot Movements using Position and Contact Forces

09/18/2019 ∙ by Martin Karlsson, et al. ∙ 0

In this paper, a method for autonomous segmentation of demonstrated robot movements is proposed. Position data is clustered into Gaussian mixture models (GMMs), and an initial set of segments is identified from the Gaussian basis functions. A Kalman filter is used to detect sudden changes in the contact force/torque measurements, and this is used to update and verify the initial segmentation points. The segmentation method is verified experimentally on an industrial robot.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 1

page 2

This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.