Politecnico di Milano — Publications

An Incremental Learning Framework for Human-Like Redundancy Optimization of Anthropomorphic Manipulators

Article

Recently, the human-like behavior on the anthropomorphic robot manipulator is increasingly accomplished by the kinematic model establishing the relationship of an anthropomorphic manipulator and human arm motions. Notably, the growth and broad availability of advanced data science techniques facilitate the imitation learning process in anthropomorphic robotics. However, the enormous dataset causes the labeling and prediction burden. In this article, the swivel motion reconstruction approach was applied to imitate human-like behavior using the kinematic mapping in robot redundancy. For the sake of efficient computing, a novel incremental learning framework that combines an incremental learning approach with a deep convolutional neural network is proposed for fast and efficient learning. The algorithm exploits a novel approach to detect changes from human motion data streaming and then evolve its hierarchical representation of features. The incremental learning process can fine-tune the deep network only when model drifts detection mechanisms are triggered. Finally, we experimentally demonstrated this neural network's learning procedure and translated the trained human-like model to manage the redundancy optimization control of an anthropomorphic robot manipulator (LWR4+, KUKA, Germany). This approach can hold the anthropomorphic kinematic structure-based redundant robots. The experimental results showed that our architecture could not only enhance the regression accuracy but also significantly reduce the processing time of learning human motion data.

Hang Su, Wen Qi, Yingbai Hu et al. 2020

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