With the development of robotic industry, subhuman robots are paid more attention. In order to meet peopleâs requirements, robots need to grasp humanâs behaviors and service human beings. Skill transfer is the core for this procedure. In this thesis, we supply a process to transfer behaviors from humans to robots or from robots to robots. The technical contributions of this procedure include: (1) two approaches to capture humanâs behavior trajectories; (2) building model to solve robotic kinematics problems; (3) applying Dynamic Movement Primitives (DMP) to achieve targets of reproducing trajectory; (4) combining DMP with Sparse Autoencoder to increase efficient of procedure. As the result, trajectories are transferred successfully from human to robot and from robot to robot. Meanwhile, performances of inverse kinematics and DMP are proved.
| Identifer | oai:union.ndltd.org:VANDERBILT/oai:VANDERBILTETD:etd-03242017-160746 |
| Date | 01 April 2017 |
| Creators | Li, Mingqi |
| Contributors | Kazuhiko Kawamura, Richard Alan Peters |
| Publisher | VANDERBILT |
| Source Sets | Vanderbilt University Theses |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.library.vanderbilt.edu/available/etd-03242017-160746/ |
| Rights | unrestricted, I hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Vanderbilt University or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report. |
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