Publication

Personalization framework for adaptive robotic feeding assistance

Conference Article

Conference

International Conference on Social Robotics (ICSR)

Edition

8th

Pages

22-31

Doc link

http://dx.doi.org/10.1007/978-3-319-47437-3_3

File

Download the digital copy of the doc pdf document

Abstract

The deployment of robots at home must involve robots with pre-defined skills and the capability of personalizing their behavior by non-expert users. A framework to tackle this personalization is presented and applied to an automatic feeding task. The personalization involves the caregiver providing several examples of feeding using Learning-by-Demostration, and a ProMP formalism to compute an overall trajectory and the variance along the path. Experiments show the validity of the approach in generating different feeding motions to adapt to user’s preferences, automatically extracting the relevant task parameters. The importance of the nature of the demonstrations is also assessed, and two training strategies are compared.

Categories

service robots.

Author keywords

assistive robotics, personalized human-robot interaction, feeding, trajectory adaptation

Scientific reference

G. Canal, G. Alenyà and C. Torras. Personalization framework for adaptive robotic feeding assistance, 8th International Conference on Social Robotics, 2016, Kansas City, USA, in Social Robotics, Vol 9979 of Lecture Notes in Artificial Intelligence, pp. 22-31, 2016, Springer.