Robot Learning Human Skills and Intelligent Control Design (Hardcover, 1)

Chapter 1 Introduction1.1Overview of sEMG-based stiffness transfer1.2Overview of robot learning motion skills from humans1.3Overview of robot intelligent control designChapter 2 Robot platforms and software systems2.1Baxter robot2.2Nao robot2.3KUKA LBR iiwa robot2.4Kinect camera2.5MYO Armband2.6Leap Motion2.7Oculus Rift DK 22.8MATLAB Robotics Toolbox2.9CoppeliaSim2.10GazeboChapter 3 Human-robot stiffness transfer based on sEMG signals3.1Introduction3.2Brief introduction of sEMG signals3.3Calculation of human arm Jacobian matrix3.4Stiffness estimation3.5Interface design for stiffness transfer3.6Human-robot stiffness mapping3.7Stiffness transfer for various tasks3.8Conclusion Chapter 4 Learning and Generalisation of Variable Impedance Skills4.1Introduction4.2Overview of the framework4.3Trajectory segmentation4.4Trajectory alignment methods4.5Dynamical movement primitives4.6Modeling of impedance skills4.7Experimental study4.8ConclusionChapter 5 Learning human skills from multimodal demonstration5.1Introduction5.2System Describtion5.3HSMM-GMR Model Description5.4Impedance Controller in Task Space5.5Experimental Study5.6Conclusion Chapter 6 Skill Modeling based on Extreme Learning Machine6.1Introduction6.2System of teleoperation-based robotic learning6.3Human/robot joint angle calculation using Kinect camera6.4Processing of demonstration data6.5Skill modeling using extreme learning machine6.6Experimental study6.7Conclusion Chapter 7 Neural Network Enhanced Robot Manipulator Control7.1Introduction7.2Problem description7.3Learning from multiple demonstrations7.4Neural networks techniques7.5Robot manipulator controller design7.6Experimental study7.7ConclusionReferences