Time: 2:20 PM, May 8, 2009
Place: NTU CSIE
Skill Learning for Humanoid Robots
Hsien-I Lin
School of Electrical and Computer Engineering
Purdue University
West Lafayette, IN 47907-2035
sofin@purdue.edu
Abstract:
Recent advances in human-centered robots such as humanoid robots are driven by the projection that these robots will have a place in our society and in our daily life activities as assistive robots. Endowing these humanoid robots with the ability of skill learning will enable them to be versatile and skillful in performing various tasks. The problem of transferring human skills to humanoid robots raises tremendous research interest in studying human and robot motor skills. Our current research aims at developing a quantitative measure of robot motor capability of a humanoid root motor system for the application of transferring human skills to a humanoid robot.
We propose to employ an information-theory-based method to quantitatively represent the robot motor capability by a pseudo index of motor performance. This pseudo index of motor performance is derived from kinematics, dynamics, and control with the speed-accuracy constraint taken into consideration. With the speed-accuracy constraint, we are able to optimize the motor performance of a robot to accomplish a task by satisfying the task spatial and temporal constraints. Computer simulations and experimental work were performed on a 6 DOF PUMA robot to validate the performance of the proposed approach in measuring the robot motor capability of a root motor system.
Bio: Hsien-I Lin received the B.S. and M.S. degrees in Electrical and Control Engineering from National Chiao Tung University in 1997 and 1999, respectively, and he is currently a Ph.D. candidate in Electrical and Computer Engineering at Purdue University, West Lafayette, Indiana. Before beginning his academic career, he worked for the VIA technologies, Inc., Taipei, Taiwan during 2001-2003, after which he was a research assistant of the Department of Bio-Industrial Mechatronics Engineering at National Taiwan University during 2003-2004. Since then, he has been a research assistant of the Department of Electrical and Computer Engineering at Purdue University. His research interests are in the areas of human-robot interaction with emphasis on robot skill learning, intelligent systems, and neuro-fuzzy networks.
Hsien-I Lin
School of Electrical and Computer Engineering
Purdue University
West Lafayette, IN 47907-2035
sofin@purdue.edu
Abstract:
Recent advances in human-centered robots such as humanoid robots are driven by the projection that these robots will have a place in our society and in our daily life activities as assistive robots. Endowing these humanoid robots with the ability of skill learning will enable them to be versatile and skillful in performing various tasks. The problem of transferring human skills to humanoid robots raises tremendous research interest in studying human and robot motor skills. Our current research aims at developing a quantitative measure of robot motor capability of a humanoid root motor system for the application of transferring human skills to a humanoid robot.
We propose to employ an information-theory-based method to quantitatively represent the robot motor capability by a pseudo index of motor performance. This pseudo index of motor performance is derived from kinematics, dynamics, and control with the speed-accuracy constraint taken into consideration. With the speed-accuracy constraint, we are able to optimize the motor performance of a robot to accomplish a task by satisfying the task spatial and temporal constraints. Computer simulations and experimental work were performed on a 6 DOF PUMA robot to validate the performance of the proposed approach in measuring the robot motor capability of a root motor system.
Bio: Hsien-I Lin received the B.S. and M.S. degrees in Electrical and Control Engineering from National Chiao Tung University in 1997 and 1999, respectively, and he is currently a Ph.D. candidate in Electrical and Computer Engineering at Purdue University, West Lafayette, Indiana. Before beginning his academic career, he worked for the VIA technologies, Inc., Taipei, Taiwan during 2001-2003, after which he was a research assistant of the Department of Bio-Industrial Mechatronics Engineering at National Taiwan University during 2003-2004. Since then, he has been a research assistant of the Department of Electrical and Computer Engineering at Purdue University. His research interests are in the areas of human-robot interaction with emphasis on robot skill learning, intelligent systems, and neuro-fuzzy networks.
1 comment:
Thanks for this post..I am a newbie in robotics from India and want to learn more about perception in humanoid robot..please sir help me out and share some more information.
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