APPARATUS AND METHODS FOR HAPTIC TRAINING OF ROBOTS

摘要

Robotic devices may be trained by a trainer guiding the robot along a target trajectory using physical contact with the robot. The robot may comprise an adaptive controller configured to generate control commands based on the trainer input, sensory input, and/or performance measure. The trainer may observe task execution by the robot. Responsive to observing a discrepancy between the target behavior and the actual behavior, the trainer may provide a teaching input via a haptic action. The robot may execute the action based on a combination of the internal control signal produced by a learning process of the robot and the training input. The robot may infer the teaching input based on a comparison of a predicted state and actual state of the robot. The robot's learning process may be adjusted in accordance with the teaching input so as to reduce the discrepancy during a subsequent trial.