Navigation functions learning from experiments: Application to anthropomorphic grasping

Ioannis F. Filippidis, Kostas J. Kyriakopoulos, Panagiotis Artemiadis

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

4 Scopus citations

Abstract

This paper proposes a method to construct Navigation Functions (NF) from experimental trajectories in an unknown environment. We want to approximate an unknown obstacle function and then use it within an NF. When navigating the same destinations with the experiments, this NF should produce the same trajectories as the experiments. This requirement is equivalent to a partial differential equation (PDE). Solving the PDE yields the unknown obstacle function, expressed with spline basis functions. We apply this new method to anthropomorphic grasping, producing automatic trajectories similar to the observed ones. The grasping experiments were performed for a set of different objects, Principal Component Analysis (PCA) allows reduction of the configuration space dimension, where the learning NF method is then applied.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages570-575
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Filippidis, I. F., Kyriakopoulos, K. J., & Artemiadis, P. (2012). Navigation functions learning from experiments: Application to anthropomorphic grasping. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 570-575). [6225168] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225168