LEARNING PEG-IN-HOLE ACTIONS WITH FLEXIBLE OBJECTS

Leon Bodenhagen, Andreas R. Fugl, Morten Willatzen, Henrik G. Petersen, Norbert Krüger

2012

Abstract

This paper presents a method for learning Peg-In-Hole actions with flexible objects. To learn the actions we parametrize the entire trajectory by a single point and use Kernel Density Estimation to reflect the different variations of the action and the object characteristics. The object is characterized by its elastic behaviour rather than geometric properties. Thereby an action learned for one object can be transferred to a new object that behaves similarly although it might have different elastic properties, dimensions and geometries. To bootstrap the learning mechanism, the system performs simulated actions and utilizes the detailed information obtained from the simulation environment. Subsequently Peg-In-Hole actions are tested successfully on the real life setup.

Paper Citation

in Harvard Style

Bodenhagen L., R. Fugl A., Willatzen M., G. Petersen H. and Krüger N. (2012). LEARNING PEG-IN-HOLE ACTIONS WITH FLEXIBLE OBJECTS . In Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: SSIR, (ICAART 2012) ISBN 978-989-8425-95-9, pages 624-631. DOI: 10.5220/0003882806240631

in Bibtex Style

@conference{ssir12,
author={Leon Bodenhagen and Andreas R. Fugl and Morten Willatzen and Henrik G. Petersen and Norbert Krüger},
title={LEARNING PEG-IN-HOLE ACTIONS WITH FLEXIBLE OBJECTS},
booktitle={Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: SSIR, (ICAART 2012)},
year={2012},
pages={624-631},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003882806240631},
isbn={978-989-8425-95-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: SSIR, (ICAART 2012)
TI - LEARNING PEG-IN-HOLE ACTIONS WITH FLEXIBLE OBJECTS
SN - 978-989-8425-95-9
AU - Bodenhagen L.
AU - R. Fugl A.
AU - Willatzen M.
AU - G. Petersen H.
AU - Krüger N.
PY - 2012
SP - 624
EP - 631
DO - 10.5220/0003882806240631