TY - GEN
T1 - Kinesthetic bootstrapping
T2 - 32nd Annual German Conference on Artificial Intelligence, KI 2009
AU - Ben Amor, Heni
AU - Berger, Erik
AU - Vogt, David
AU - Jung, Bernhard
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=76649103008&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=76649103008&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-04617-9_62
DO - 10.1007/978-3-642-04617-9_62
M3 - Conference contribution
AN - SCOPUS:76649103008
SN - 3642046169
SN - 9783642046162
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 492
EP - 499
BT - KI 2009
Y2 - 15 September 2009 through 18 September 2009
ER -