A dust sweeping robot learning by imitation

This video shows the experiment of a dust sweeping robot using a Programming by Demonstration (PbD) approach. The task is to sweep a set of uncleaned regions (depicted by red and blue cubes) using a broom which is attached to the end-effector of the robotic manipulator and collect the dust inside the dust pan. The task is demonstrated by the user 6 times with different positions and orientations of the dust pieces and the dust pan. Then, in the reproduction, the robot performs the task for a new situations in which one or both of the dust pieces are not available.

Each dust piece and the dust pan are considered as coordinate systems in a task-parameterized Gaussian mixture model, which modulates the movement of the broom. The proposed approach handles the cases in which there are missing task parameters during the demonstration or reproduction.

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