Joining Force of Human Muscular Task Planning With Robot Robust and Delicate Manipulation for Programming by Demonstration

doi:10.1109/TMECH.2020.2997799

HFCAS OpenIR

	Joining Force of Human Muscular Task Planning With Robot Robust and Delicate Manipulation for Programming by Demonstration
	Wang, Fei 1; Zhou, Xingqun 2; Wang, Jianhui 2; Zhang, Xing 1; He, Zhenquan 2; Song, Bo 3
	2020-10-01
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN	1083-4435
通讯作者	Wang, Fei(wangfei@mail.neu.edu.cn)
摘要	Recently, programing by demonstration (PbD) received much attention for its capacity of fast programming with increasing demands in the robot manipulation area, especially in industrial applications. However, one of the biggest challenges of PbD is the recognition of demonstrator's finger high-fidelity motions especially in the environments with uncertainties, which limits the efficiency and accuracy of PbD. In this article, inspired by human dexterity, a novel PbD approach using the implicit muscular task planning strategy is presented to extract features from the arms' giant movement and the hands' fine motions during the demonstrator's operation. Furthermore, we integrate a deep reinforcement learning control method that further improves the manipulations' adaptive ability in the unknown or dynamic environments. The experimental results show that our proposed approach can deal with relative complex assembly tasks with a success rate of more than 67% within a fit tolerance of 4.2 mm by one-shot demonstration.
关键词	Task analysis Robot sensing systems Gesture recognition IEEE transactions Mechatronics Robotic assembly Implicit muscular task planning multisource information fusion programming by demonstration reinforcement learning
DOI	10.1109/TMECH.2020.2997799
关键词[WOS]	INTEGRATED FRAMEWORK ; SYSTEM
收录类别	SCI
语种	英语
资助项目	Foundation of National Natural Science Foundation of China[61973065] ; Fundamental Research Funds for the Central Universities of China[N172608005] ; Fundamental Research Funds for the Central Universities of China[N182612002] ; Fundamental Research Funds for the Central Universities of China[N2026002] ; Liaoning Provincial Natural Science Foundation of China[20180520007]
项目资助者	Foundation of National Natural Science Foundation of China ; Fundamental Research Funds for the Central Universities of China ; Liaoning Provincial Natural Science Foundation of China
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号	WOS:000578004900040
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：13[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.hfcas.ac.cn:8080/handle/334002/104537
专题	中国科学院合肥物质科学研究院
通讯作者	Wang, Fei
作者单位	1.Northeastern Univ, Fac Robot Sci & Engn, Shenyang 110169, Peoples R China 2.Northeastern Univ, Coll Informat Sci & Engn, Shenyang 110819, Peoples R China 3.Chinese Acad Sci, Inst Intelligent Machines, Hefei 230031, Peoples R China
推荐引用方式 GB/T 7714	Wang, Fei,Zhou, Xingqun,Wang, Jianhui,et al. Joining Force of Human Muscular Task Planning With Robot Robust and Delicate Manipulation for Programming by Demonstration[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2020,25.
APA	Wang, Fei,Zhou, Xingqun,Wang, Jianhui,Zhang, Xing,He, Zhenquan,&Song, Bo.(2020).Joining Force of Human Muscular Task Planning With Robot Robust and Delicate Manipulation for Programming by Demonstration.IEEE-ASME TRANSACTIONS ON MECHATRONICS,25.
MLA	Wang, Fei,et al."Joining Force of Human Muscular Task Planning With Robot Robust and Delicate Manipulation for Programming by Demonstration".IEEE-ASME TRANSACTIONS ON MECHATRONICS 25(2020).