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	A Learning-from-Demonstration Based Framework for Robotic Manipulators Sorting Task
	Yahui Zhang; Yongsheng Ou; Guodong Liu; Tiantian Xu
	2018
会议日期	2018
会议地点	shenzhen
英文摘要	This paper presents a safe and effective framework based on Learning from Demonstration (LfD) for robotic manipulators sorting task, which includes six parts: learning a task model, binarization, contour detection, Principal Component Analysis (PCA) training and recognition, grasping objects, experiments. We develop a sorting task for a 7-DOF manipulator. The purpose is to use the manipulators as a coworker in an industrial environment. Firstly, we implement the Learning from Demonstration (LfD) method to make a better communication between robots and humans. A computer vision algorithm to realize the contour detection for this task is developed subsequently. Finally, we apply machine learning algorithm named PCA to the object recognition area. We illustrate the effectiveness of the proposed framework by performing a sorting task with a Baxter robot
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/13830]
专题	深圳先进技术研究院_集成所
推荐引用方式 GB/T 7714	Yahui Zhang,Yongsheng Ou,Guodong Liu,et al. A Learning-from-Demonstration Based Framework for Robotic Manipulators Sorting Task[C]. 见:. shenzhen. 2018.

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