Skill Learning for Human-Robot Interaction Using Wearable Device

作     者：Bin Fang Xiang Wei Fuchun Sun Haiming Huang Yuanlong Yu Huaping Liu 

作者机构：Department of Computer Science and TechnologyTsinghua UniversityBeijing 100084China Fuzhou UniversityFuzhou 350108 China College of Information EngineeringShenzhen UniversityShenzhen 518060China 

出 版 物：《Tsinghua Science and Technology》 (清华大学学报（自然科学版（英文版）)

年 卷 期：2019年第24卷第6期

页      面：654-662页

核心收录：

学科分类：07[理学] 08[工学] 

基　　金：supported by the National Natural Science Foundation of China (Nos. 61503212, 61473089, U1613212, and 61327809) the Beijing Science and Technology Program (No. Z171100000817007) the German Research Foundation (DFG) in project Cross Modal Learning (No. NSFC 61621136008/DFG TRR169) the Suzhou Special Program (No. 2016SZ0219) 

主　　题：skill learning interaction teleoperation dynamical movement primitive 

摘      要：With the accelerated aging of the global population and escalating labor costs, more service robots are needed to help people perform complex tasks. As such, human-robot interaction is a particularly important research topic. To effectively transfer human behavior skills to a robot, in this study, we conveyed skill-learning functions via our proposed wearable device. The robotic teleoperation system utilizes interactive demonstration via the wearable device by directly controlling the speed of the motors. We present a rotation-invariant dynamicalmovement-primitive method for learning interaction skills. We also conducted robotic teleoperation demonstrations and designed imitation learning experiments. The experimental human-robot interaction results confirm the effectiveness of the proposed method.