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Towards {Associative} {Skill} {Memories}


Conference Paper



Movement primitives as basis of movement planning and control have become a popular topic in recent years. The key idea of movement primitives is that a rather small set of stereotypical movements should suffice to create a large set of complex manipulation skills. An interesting side effect of stereotypical movement is that it also creates stereotypical sensory events, e.g., in terms of kinesthetic variables, haptic variables, or, if processed appropriately, visual variables. Thus, a movement primitive executed towards a particular object in the environment will associate a large number of sensory variables that are typical for this manipulation skill. These association can be used to increase robustness towards perturbations, and they also allow failure detection and switching towards other behaviors. We call such movement primitives augmented with sensory associations Associative Skill Memories (ASM). This paper addresses how ASMs can be acquired by imitation learning and how they can create robust manipulation skill by determining subsequent ASMs online to achieve a particular manipulation goal. Evaluation for grasping and manipulation with a Barrett WAM/Hand illustrate our approach.

Author(s): Pastor, P. and Kalakrishnan, M. and Righetti, L. and Schaal, S.
Book Title: 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)
Pages: 309--315
Year: 2012
Month: November
Publisher: IEEE

Department(s): Autonomous Motion, Movement Generation and Control
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/HUMANOIDS.2012.6651537

Address: Osaka, Japan
URL: https://ieeexplore.ieee.org/abstract/document/6651537/


  title = {Towards {Associative} {Skill} {Memories}},
  author = {Pastor, P. and Kalakrishnan, M. and Righetti, L. and Schaal, S.},
  booktitle = {2012 12th {IEEE}-{RAS} {International} {Conference} on {Humanoid} {Robots} ({Humanoids} 2012)},
  pages = {309--315},
  publisher = {IEEE},
  address = {Osaka, Japan},
  month = nov,
  year = {2012},
  url = {https://ieeexplore.ieee.org/abstract/document/6651537/},
  month_numeric = {11}