{"id":2396,"date":"2016-06-28T21:47:07","date_gmt":"2016-06-28T21:47:07","guid":{"rendered":"http:\/\/bioeng.nus.edu.sg\/mm\/?p=2396"},"modified":"2016-06-28T21:47:07","modified_gmt":"2016-06-28T21:47:07","slug":"ipmclfd","status":"publish","type":"post","link":"http:\/\/www.labren.org\/mm\/projects\/ipmclfd\/","title":{"rendered":"Motion Planning of Flexible Manipulators by Learning from Human Expert Demonstrations"},"content":{"rendered":"<h2>Abstract<\/h2>\n<h3>Motion Planning of Multiple-segment flexible soft, and continuum Flexible Manipulators by Learning from Human Expert Demonstrations<\/h3>\n<p>Multiple-segment flexible and soft robotic actuators exhibit compliance but suffer from the difficulty of path planning due to their redundant degrees of freedom, although they are promising in complex tasks such as crossing body cavities to grasp objects. We propose a learning from demonstration method to plan the motion paths of flexible manipulators, by statistics machine-learning algorithms. To encode demonstrated trajectories and estimate suitable paths for the manipulators to reproduce the task, models are built based on Gaussian Mixture Model and Gaussian Mixture Regression respectively. The forward and inverse kinematic models of soft robotic arm are derived for the motion control. A flexible and soft robotic manipulator verifies the learned paths by successfully completing a representative task of navigating through a narrow keyhole.<br \/>\n<a href=\"http:\/\/bioeng.nus.edu.sg\/mm\/wp-content\/uploads\/2016\/12\/ipmcLFD.png\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-2402\" src=\"http:\/\/bioeng.nus.edu.sg\/mm\/wp-content\/uploads\/2016\/12\/ipmcLFD-300x186.png\" alt=\"\" width=\"300\" height=\"186\" srcset=\"http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/ipmcLFD-300x186.png 300w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/ipmcLFD-768x477.png 768w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/ipmcLFD-1024x637.png 1024w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/ipmcLFD-563x350.png 563w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/ipmcLFD-150x93.png 150w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/ipmcLFD.png 2048w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><br \/>\n<img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-2403\" src=\"http:\/\/bioeng.nus.edu.sg\/mm\/wp-content\/uploads\/2016\/12\/IPMCLFD2Chart-300x118.jpg\" alt=\"\" width=\"300\" height=\"118\" srcset=\"http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/IPMCLFD2Chart-300x118.jpg 300w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/IPMCLFD2Chart-768x302.jpg 768w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/IPMCLFD2Chart-1024x403.jpg 1024w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/IPMCLFD2Chart-890x350.jpg 890w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/IPMCLFD2Chart-150x59.jpg 150w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/IPMCLFD2Chart.jpg 1772w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><br \/>\n&nbsp;<\/p>\n<h3>Demo video at:<br \/>\n<iframe loading=\"lazy\"  id=\"_ytid_25112\"  width=\"920\" height=\"518\"  data-origwidth=\"920\" data-origheight=\"518\" src=\"https:\/\/www.youtube.com\/embed\/p5P3maIAy9M?enablejsapi=1&#038;autoplay=0&#038;cc_load_policy=0&#038;cc_lang_pref=&#038;iv_load_policy=1&#038;loop=0&#038;rel=1&#038;fs=1&#038;playsinline=0&#038;autohide=2&#038;theme=dark&#038;color=red&#038;controls=1&#038;\" class=\"__youtube_prefs__  epyt-is-override  no-lazyload\" title=\"YouTube player\"  allow=\"fullscreen; accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen data-no-lazy=\"1\" data-skipgform_ajax_framebjll=\"\"><\/iframe><br \/>\n&nbsp;<\/p>\n<h2>Publications<\/h2>\n<ul>\n<li>H. Wang; J. Chen; H. Y. Lau &amp; H. Ren Motion Planning of IPMC Flexible Manipulators by Learning from Human Expert Demonstrations ICRA2016, IEEE International Conference on Robotics and Automation, 2016<\/li>\n<li>J. Chen; H. REN &amp; A. Lau Learning Reaching Movement Primitives from Human Demonstrations with Gaussian Mixture Regression and Stabilized Dynamical Systems International Conference on Control Science and Systems Engineering ICCSSE 2016, 2016<\/li>\n<li>J. Chen; W. Xu; A. Lau &amp; H. REN Towards Transferring Skills to Flexible Surgical Robots with Programming by Demonstration and Reinforcement Learning The Eighth International Conference on Advanced Computational Intelligence (ICACI2016), 2016<\/li>\n<li>J. Chen; W. Xu; H. Ren &amp; H. Y. Lau Automate Adaptive Robot Reaching Movement Based on Learning from Human Demonstrations with Dynamical Systems ROBIO2016, 2016<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>Abstract Motion Planning of Multiple-segment flexible soft, and continuum Flexible Manipulators by Learning from Human Expert Demonstrations Multiple-segment flexible and soft robotic actuators exhibit compliance but suffer from the difficulty of path planning due to their redundant degrees of freedom, although they are promising in complex tasks such as crossing\u2026 <a class=\"continue-reading-link\" href=\"http:\/\/www.labren.org\/mm\/projects\/ipmclfd\/\">Continue reading<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"ngg_post_thumbnail":0,"footnotes":""},"categories":[44,45,9],"tags":[56,58,63,70,71,76,92],"class_list":["post-2396","post","type-post","status-publish","format-standard","hentry","category-navigation","category-planning","category-projects","tag-cognitive","tag-continuum","tag-flexible-robots","tag-intelligent-control","tag-ipmc","tag-lfd-learning-from-demonstration","tag-soft-robotics"],"_links":{"self":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/2396","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/comments?post=2396"}],"version-history":[{"count":0,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/2396\/revisions"}],"wp:attachment":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/media?parent=2396"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/categories?post=2396"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/tags?post=2396"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}