Robotic Skill Learning for Precision Assembly With Microscopic Vision and Force Feedback

doi:10.1109/TMECH.2019.2909081

CASIA OpenIR > 中国科学院工业视觉智能装备工程实验室 > 精密感知与控制

	Robotic Skill Learning for Precision Assembly With Microscopic Vision and Force Feedback
	Qin, Fangbo1,2 ; Xu, De1,2 ; Zhang, Dapeng1,2 ; Li, Ying1,2
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN	1083-4435
	2019-06-01
卷号	24 期号:3 页码:1117-1128
通讯作者	Zhang, Dapeng(dapeng.zhang@ia.ac.cn)
摘要	This paper proposes a skill learning approach for precision assembly robot, aiming to realize efficient skill transfer from teacher to robot through several demonstrations. The framework is designed considering that a skill has multiple controllers and procedures. A complex skill is segmented to an action sequence according to the changes of the teacher's selective attention settings on the multiple system variables. The learning of each action is to select a predefined action class and learn its key parameters from the demonstration data. The action sequence forms a finite-state machine. To execute an action, first the action instance is generated from the action class and the learned parameters. Then at each time step, the action state is updated by the Gaussian mixture model based dynamical system and is sent to the lower level controller as the reference signal, so that the action state evolves toward the target with a specified motion pattern. In this paper, the action classes of image feature guided motion and the force constrained motion are proposed based on the multicamera microscopic vision and three-dimensional force feedback, respectively, which can be reused in different skills. The proposed approach was validated by the two experiments of the sleeve-cavity assembly and the coil-cylinder assembly.
关键词	Force control learning from demonstration microscopic vision precision assembly robotic skill learning
DOI	10.1109/TMECH.2019.2909081
关键词[WOS]	TASKS ; MODEL
收录类别	SCI
语种	英语
资助项目	National Key Research and Development Program of China[2018YFD0400902] ; Science Challenge Project[TZ2018006-0204-02] ; National Natural Science Foundation of China[61673383] ; National Natural Science Foundation of China[61733004] ; National Natural Science Foundation of China[61873266] ; National Natural Science Foundation of China[61873266] ; National Natural Science Foundation of China[61733004] ; National Natural Science Foundation of China[61673383] ; Science Challenge Project[TZ2018006-0204-02] ; National Key Research and Development Program of China[2018YFD0400902]
项目资助者	National Natural Science Foundation of China ; Science Challenge Project ; National Key Research and Development Program of China
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号	WOS:000472193600022
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	人工智能+制造
引用统计	被引频次：37[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/23621
专题	中国科学院工业视觉智能装备工程实验室_精密感知与控制
通讯作者	Zhang, Dapeng
作者单位	1.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 101408, Peoples R China
第一作者单位	精密感知与控制研究中心
通讯作者单位	精密感知与控制研究中心
推荐引用方式 GB/T 7714	Qin, Fangbo,Xu, De,Zhang, Dapeng,et al. Robotic Skill Learning for Precision Assembly With Microscopic Vision and Force Feedback[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2019,24(3):1117-1128.
APA	Qin, Fangbo,Xu, De,Zhang, Dapeng,&Li, Ying.(2019).Robotic Skill Learning for Precision Assembly With Microscopic Vision and Force Feedback.IEEE-ASME TRANSACTIONS ON MECHATRONICS,24(3),1117-1128.
MLA	Qin, Fangbo,et al."Robotic Skill Learning for Precision Assembly With Microscopic Vision and Force Feedback".IEEE-ASME TRANSACTIONS ON MECHATRONICS 24.3(2019):1117-1128.

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