Title: Behavior-based Task Learning by Demonstration for Mobile Manipulators
Authors: Huang, Shu ×
Aertbeliën, Erwin
Bruyninckx, Herman
Van Brussel, Hendrik #
Issue Date: 1-Mar-2013
Publisher: Chinese Institute of Automation Engineers
Series Title: International Journal of Automation and Smart Technology vol:3 issue:1 pages:19-28
Abstract: Task learning for behavior‐based mobile manipulation is formalized as a behavior recognition problem in this paper. The goal is to generate a behavior diagram through human demonstration, which can be used as a template for execution of a specified task. In order to extract significant and meaningful information from sensory data, various features are defined to convert the sensory data to the feature space. A generic task learning approach based on combined machine learning techniques is used to classify behaviors from the feature space. Not only can this approach recognize already‐known behaviors, it can also provide an easy method to add new behaviors to a system by combining new training datasets with the existing ones through retraining a support vector machine kernel (SVM) model. Common household applications, such as door‐opening and window‐cleaning tasks, are implemented for the evaluation of the proposed method.
ISSN: 2223-9766
Publication status: published
KU Leuven publication type: AT
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
× corresponding author
# (joint) last author

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