dc.contributor
Institut de Robòtica i Informàtica Industrial
dc.contributor
Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.contributor.author
Canal Camprodon, Gerard
dc.contributor.author
Alenyà Ribas, Guillem
dc.contributor.author
Torras, Carme
dc.identifier
Canal, G., Alenyà, G., Torras, C. Personalization framework for adaptive robotic feeding assistance. A: International Conference on Social Robotics. "Social Robotics - 8th International Conference, ICSR 2016, Proceedings". Kansas City: 2016, p. 22-31.
dc.identifier
9783319474366
dc.identifier
https://hdl.handle.net/2117/104959
dc.identifier
10.1007/978-3-319-47437-3_3
dc.description.abstract
The final publication is available at link.springer.com
dc.description.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. © Springer International Publishing AG 2016.
dc.description.abstract
Peer Reviewed
dc.description.abstract
Postprint (author's final draft)
dc.format
application/pdf
dc.relation
http://link.springer.com/chapter/10.1007%2F978-3-319-47437-3_3
dc.subject
Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject
Personnel training
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Assistive robotics
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Automatic feeding
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Personalizations
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Training strategy
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Classificació INSPEC::Automation::Robots
dc.title
Personalization framework for adaptive robotic feeding assistance
dc.type
Conference report
