Imperial College London

Professor Yiannis Demiris

Faculty of EngineeringDepartment of Electrical and Electronic Engineering

Professor of Human-Centred Robotics, Head of ISN
 
 
 
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Contact

 

+44 (0)20 7594 6300y.demiris Website

 
 
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Location

 

1014Electrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Wu:2009:10.1109/ROBIO.2009.5420496,
author = {Wu, Y and Demiris, Y},
doi = {10.1109/ROBIO.2009.5420496},
pages = {913--918},
publisher = {IEEE},
title = {Efficient Template-based Path Imitation by Invariant Feature Mapping},
url = {http://dx.doi.org/10.1109/ROBIO.2009.5420496},
year = {2009}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - We propose a novel approach for robot movement imitation that is suitable for robotic arm movement in tasks such as reaching and grasping. This algorithm selects a previously observed path demonstrated by an agent and generates a path in a novel situation based on pairwise mapping of invariant feature locations present in both the demonstrated and the new scenes using minimum distortion and minimum energy strategies. This One-Shot Learning algorithm is capable of not only mapping simple point-to-point paths but also adapting to more complex tasks such as involvement of forced waypoints. As compared to traditional methodologies, our work does not require extensive training for generalisation as well as expensive run-time computation for accuracy. Cross-validation statistics of grasping experiments show great similarity between the paths produced by human subjects and the proposed algorithm.
AU - Wu,Y
AU - Demiris,Y
DO - 10.1109/ROBIO.2009.5420496
EP - 918
PB - IEEE
PY - 2009///
SP - 913
TI - Efficient Template-based Path Imitation by Invariant Feature Mapping
UR - http://dx.doi.org/10.1109/ROBIO.2009.5420496
UR - http://hdl.handle.net/10044/1/12662
ER -