Publication
Personalization framework for adaptive robotic feeding assistance
Conference Article
Conference
International Conference on Social Robotics (ICSR)
Edition
8th
Pages
22-31
Doc link
http://dx.doi.org/10.1007/978-3-319-47437-3_3
File
Abstract
The 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.
Categories
service robots.
Author keywords
assistive robotics, personalized human-robot interaction, feeding, trajectory adaptation
Scientific reference
G. Canal, G. Alenyà and C. Torras. Personalization framework for adaptive robotic feeding assistance, 8th International Conference on Social Robotics, 2016, Kansas City, USA, in Social Robotics, Vol 9979 of Lecture Notes in Computer Science, pp. 22-31, 2016, Springer.
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