Kinesthetic bootstrapping: Teaching motor skills to humanoid robots through physical interaction

Heni Ben Amor, Erik Berger, David Vogt, Bernhard Jung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

33 Scopus citations

Abstract

Programming of complex motor skills for humanoid robots can be a time intensive task, particularly within conventional textual or GUI-driven programming paradigms. Addressing this drawback, we propose a new programming-by-demonstration method called Kinesthetic Bootstrapping for teaching motor skills to humanoid robots by means of intuitive physical interactions. Here, "programming" simply consists of manually moving the robot's joints so as to demonstrate the skill in mind. The bootstrapping algorithm then generates a low-dimensional model of the demonstrated postures. To find a trajectory through this posture space that corresponds to a robust robot motion, a learning phase takes place in a physics-based virtual environment. The virtual robot's motion is optimized via a genetic algorithm and the result is transferred back to the physical robot. The method has been successfully applied to the learning of various complex motor skills such as walking and standing up.

Original languageEnglish (US)
Title of host publicationKI 2009
Subtitle of host publicationAdvances in Artificial Intelligence - 32nd Annual German Conference on AI, Proceedings
Pages492-499
Number of pages8
DOIs
StatePublished - 2009
Event32nd Annual German Conference on Artificial Intelligence, KI 2009 - Paderborn, Germany
Duration: Sep 15 2009Sep 18 2009

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5803 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other32nd Annual German Conference on Artificial Intelligence, KI 2009
CountryGermany
CityPaderborn
Period9/15/099/18/09

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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    Ben Amor, H., Berger, E., Vogt, D., & Jung, B. (2009). Kinesthetic bootstrapping: Teaching motor skills to humanoid robots through physical interaction. In KI 2009: Advances in Artificial Intelligence - 32nd Annual German Conference on AI, Proceedings (pp. 492-499). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5803 LNAI). https://doi.org/10.1007/978-3-642-04617-9_62