Skill transfer from a person to a robot
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United States of America Patent
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Oct 20, 2020
Grant Date -
Feb 1, 2018
app pub date -
Jul 26, 2017
filing date -
Jul 26, 2016
priority date (Note) -
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Abstract
A computer-implemented method includes recording one or more demonstrations of a task performed by a user. Movements of one or more joints of the user are determined from the one or more demonstrations. By a computer processor, a neural network or Gaussian mixture model incorporating one or more contraction analysis constraints is learned, based on the movements of the one or more joints of the user, the one or more contraction analysis constraints representing motion characteristics of the task. A first initial position of a robot is determined. A first trajectory of the robot is determined to perform the task, based at least in part on the neural network or Gaussian mixture model and the first initial position.
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