Rapid robotic imitation learning of force-torque tasks

摘要

A method of training a robot to autonomously execute a robotic task includes moving an end effector through multiple states of a predetermined robotic task to demonstrate the task to the robot in a set of n training demonstrations. The method includes measuring training data, including at least the linear force and the torque via a force-torque sensor while moving the end effector through the multiple states. Key features are extracted from the training data, which is segmented into a time sequence of control primitives. Transitions between adjacent segments of the time sequence are identified. During autonomous execution of the same task, a controller detects the transitions and automatically switches between control modes. A robotic system includes a robot, force-torque sensor, and a controller programmed to execute the method.

主权项

1. A method for training a robot to autonomously execute a predetermined robotic task requiring application of a linear force and a torque to an object by an end effector of the robot, the method comprising:
moving the end effector through multiple states of the predetermined robotic task to thereby demonstrate the predetermined robotic task to the robot in a set of n training demonstrations; measuring a set of training data, including measuring at least the linear force and the torque via a force-torque sensor, while moving the end effector through the multiple states of the predetermined robotic task; extracting key features from the measured set of training data via a controller, including segmenting the measured set of training data into a time sequence of control primitives and identifying transitions between adjacent segments of the time sequence; measuring the linear force and the torque via the force-torque sensor as online/real-time data during a subsequent autonomous execution of the demonstrated robotic task by the robot; detecting transitions via the controller during the subsequent autonomous execution of the demonstrated robotic task by the robot; and automatically switching between a plurality of different control modes during the subsequent autonomous execution of the demonstrated robotic task in response to the detected transitions.