Human Intention Understanding From Multiple Demonstrations and Behavior Generalization in Dynamic Movement Primitives Framework

摘要

Human's interference in the process of skill learning can improve the performance of the robot greatly. However, learning from demonstration to generate a new action with human behavioral characteristics in the varying situation is challenging. Generally, dynamic movement primitives (DMPs) method can generalize the trajectory imitating the demonstration, but cannot integrate the feature of multiple trajectories of different targets. In this paper, the proposed method contains two aspects of learning and generating. The statistical method Gaussian mixture model and Gaussian mixture regression (GMM-GMR) is used to extract the common characteristic and eliminate the uncertainty of the multiple demonstrations. To exert the ability of DMPs to generate a human-like motion to a new goal, and we model the shape parameter with locally weighted regression (LWR) method. To enhance the ability of DMPs in multiple trajectories learning, we propose the multivariate Gaussian process regression (MV-GPR) method to construct the regression model of shape parameters to reflect the human intentions, with respect to the target position. To verify the feasibility of the proposed method, we design a peg-in-hole experiment with proving generalization and obstacle avoidance performance. The results have shown that the strategy integrated the generalization of DMPs and feature regeneration ability of MV-GPR method, and the generated valid trajectory could achieve the peg-in-hole task with 6-DOF whole-arm avoidance.