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research
Personalization framework for adaptive robotic feeding assistance
Authors
AH Maslow
K Baraka
+5 more
M Fiore
M Topping
S Chernova
SD Klee
TL Chen
Publication date
1 January 2016
Publisher
'Springer Science and Business Media LLC'
Doi
Cite
Abstract
The final publication is available at link.springer.comThe deployment of robots at home must involve robots with pre-defined skills and the capability of personalizing their behavior by non-expert users. A framework to tackle this personalization is presented and applied to an automatic feeding task. The personalization involves the caregiver providing several examples of feeding using Learning-by- Demostration, and a ProMP formalism to compute an overall trajectory and the variance along the path. Experiments show the validity of the approach in generating different feeding motions to adapt to user’s preferences, automatically extracting the relevant task parameters. The importance of the nature of the demonstrations is also assessed, and two training strategies are compared. © Springer International Publishing AG 2016.Peer ReviewedPostprint (author's final draft
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Last time updated on 17/04/2020
Crossref
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info:doi/10.1007%2F978-3-319-4...
Last time updated on 01/04/2019
UPCommons. Portal del coneixement obert de la UPC
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