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dc.contributor.advisorCynthia Breazeal and J.J. Slotine.en_US
dc.contributor.authorLieberman, Jeff I. (Jeff Ian), 1978-en_US
dc.contributor.otherMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.date.accessioned2005-09-06T21:36:05Z
dc.date.available2005-09-06T21:36:05Z
dc.date.copyright2004en_US
dc.date.issued2004en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/27072
dc.descriptionThesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.en_US
dc.descriptionIncludes bibliographical references (p. 127-129).en_US
dc.description.abstractAn automated software system has been developed to allow robots to learn a generalized motor skill from demonstrations given by a human operator. Data is captured using a teleoperation suit as a task is performed repeatedly on Leonardo, the Robotic Life group's anthropomorphic robot, in different parts of his workspace. Stereo vision and tactile feedback data are also captured. Joint and end effector motions are measured through time, and an improved Mean Squared Velocity [MSV] analysis is performed to segment motions into possible goal-directed streams. Further combinatorial selection of subsets of markers allows final episodic boundary selection and time alignment of tasks. The task trials are then analyzed spatially using radial basis functions [RBFs] to interpolate demonstrations to span his workspace, using the object position as the motion blending parameter. An analysis of the motions in the object coordinate space [with the origin defined at the object] and absolute world-coordinate space [with the origin defined at the base of the robot], and motion variances in both coordinate frames, leads to a measure [referred to here as objectivity] of how much any part of an action is absolutely oriented, and how much is object-based. A secondary RBF solution, using end effector paths in the object coordinate frame, provides precise end-effector positioning relative to the object. The objectivity measure is used to blend between these two solutions, using the initial RBF solution to preserve quality of motion, and the secondary end-effector objective RBF solution to increase the robot's capability to engage objects accurately and robustly.en_US
dc.description.statementofresponsibilityby Jeff Lieberman.en_US
dc.format.extent129 p.en_US
dc.format.extent6326833 bytes
dc.format.extent6342780 bytes
dc.format.mimetypeapplication/pdf
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582
dc.subjectMechanical Engineering.en_US
dc.titleTeaching a robot manipulation skills through demonstrationen_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.identifier.oclc56813803en_US


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