Difference between revisions of "Reading Group"

Revision as of 17:01, 17 August 2010

Administrative Stuff

Machine Learning:

• We will be meeting in HRL every Wednesday at noon.
• Feel free to bring lunch and/or other snackies.

Force Control of Manipulators:

• We will meet on Mondays at 11:00.

Schedule

Machine Learning:

• 6/9/2010: Jan Peters, Sethu Vijayakumar, Stefan Schaal. Reinforcement Learning for Humanoid Robotics. International Conference on Humanoid Robots 2003. pdf
• 6/11/2010, 6/16/2010 Kober, J.; Peters, J. (2009). Learning Motor Primitives for Robotics, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) pdf
  • Peter Pastor's slides on Dynamic Motor Primitives
  • Background paper on DMP (skip to page 435) pdf
  • Why DMP? Refer to bullets on page 10 & 11 of pdf
• 6/23/2010 Jens Kober, and Jan Peters. Policy Search for Motor Primitives in Robotics. NIPS 2008 pdf
• 6/30/2010 Thomas Ruckstieb, Martin Felder, Jurgen Schmidhuber. State-Dependent Exploration for Policy Gradient Methods. Machine Learning and Knowledge Discovery in Database (2008) pdf
• 7/13/2010 Jens Kober, Erhan Oztop, and Jan Peters. Reinforcement Learning to adjust Robot Movements to New Situations. RSS 2010. pdf

• 8/11/2010. Brian D. Ziebart et al. Planning-based Prediction for Pedestrians. IROS 2009 pdf video

• Kei Okada, Mitsuharu Kojima, Satoru Tokutsu, Yuto Mori, Toshiaki Maki, Masayuki Inaba : "Task Guided Attention Control and Visual Verification in Tea Serving by the Daily Assistive Humanoid HRP2JSK", In Proceedings of The 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), pp 1551-1557, 2008. (Best Robocup Award) pdf

Force Control of Manipulators:

Notes from JK Salisbury paper. June 21

• Jun 21, 2010: J.K. Salisbury, "Active stiffness control of a manipulator in Cartesian coordinates," Proc. 19th IEEE Conference on Decision and Control, 1980.
• Jun 25, 2010:
  • Look at the thumbnail, Notes from JK Salisbury paper.
  • Stuart Glaser's (Stu's) controller: There's no paper. For citations, please cite the wiki page for the teleop_controllers package and the stack version (pr2_cockpit 0.1). The best reference for how it works is the code (attached). The controller is a riff off of "Simplified Acceleration Based Control Variation 1" from this paper (Comparative experiments on task space control with redundancy resolution by Nakanishi, Cory, Mistry, Peters and Schaal, IROS 2005)

• Discussion on June 25, 2010
• 

  Equations from Stu's code

• 

  Our derivation

• July 1, 2010:
  • Read the PR1 paper (pdf)
  • Old paper that the PR1 paper cites for gravity compensation with springs. (pdf)(Not very helpful)
  • Continue discussion on Ken Salisbury paper and EPC.

• July 1, 2010
• 

  Starter (moving tip of spring along a line)

• 

  Simpler Case than the paper: Moving the tip in a circle but a == b

• 

  Elegant and simple, yet complete derivation for one link is in this paper (pdf)

• Multiple Contacts: July 1, 2010
• 

  starting to think about multiple contacts. Also, todos for next time.

Authors to Read

Machine Learning:

• Jan Peters: http://www-clmc.usc.edu/~jrpeters/
• Willow Peeps
• Fernando De la Torre
• Stefan Schaal: http://www-clmc.usc.edu/~sschaal/
• Chris Atkeson: http://www.cs.cmu.edu/~cga/
  • Martin Stolle and Christopher Atkeson. Finding and transferring policies using stored behaviors. Autonomous Robots pdf
• Chad Jenkins: http://www.cs.brown.edu/~cjenkins/
• Aude Billard: http://lasa.epfl.ch/people/member.php?SCIPER=115671
• Christian Ott: http://www.robotic.de/Christian.Ott/

Force Control of Manipulators:

For initial background

• Neville Hogan
• Ken Salisbury
• D.E. Whitney
• Oussama Khatib: http://cs.stanford.edu/groups/manips/publications

Suggested Papers

Machine Learning:

• Fernando De la Torre's component analysis paper.
• Choon Hui Teo, S. V. N. Vishwanathan, Alex J. Smola, and Quoc V. Le. Bundle Methods for Regularized Risk Minimization. Journal of Machine Learning Research, 11:311–365, January 2010. pdf
• Jan Peters, Stefan Schaal. Policy Gradient Methods for Robotics. IROS 2006. pdf
• Jan Peters, Stefan Schall. Learning to Control in Operational Space. IJRR 08. download from library website
• Todd Hester, Michael Quinlan, and Peter Stone. Generalized Model Learning for Reinforcement Learning on a Humanoid Robot. In IEEE International Conference on Robotics and Automation (ICRA), May 2010. pdf video related work
• Jonas Buchli, Evangelos Theodorou, Freek Stulp, Stefan Schaal. Variable Impedance Control A Reinforcement Learning Approac. Robotic Systems Science. pdf
• Detry,R.; Baseski, E.; Popovic, M.; Touati, Y.; Krueger, N.; Kroemer, O.; Peters, J.; Piater, J. (2010). Learning Continuous Grasp Affordances by Sensorimotor Exploration, From Motor Learning to Interaction Learning in Robots, Springer Verlag, 264. pdf
• Brian D. Ziebart, Andrew Maas, J. Andrew Bagnell, Anind K. Dey. Human Behavior Modeling with Maximum Entropy Inverse Optimal Control. AAAI Spring Symposium on Human Behavior Modeling. 2009 pdf

Force Control of Manipulators:

• Neville Hogan, Impedance control: an approach to manipulation: parts 1,2, 3

Multi-contact Manipulation

• Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots, Sentis, L. Park, J. Khatib, O. Page(s): 483 - 501 link

Visual Servoing

• Survey on visual servoing for manipulation. D Kragic, HI Christensen

Skin Sensing

• Tactile Sensing—From Humans to Humanoids. Dahiya, R.S. Metta, G. Valle, M. Sandini, G., Feb 2010, Volume: 26 Issue: 1. On page(s): 1 - 20 link
• Tactile Sensing and Control of Robotic Manipulation. Robert D. Howe. Journal of Advanced Robotics, 8(3):245-261, 1994. pdf

Task-relevant Perception

• Kei Okada, Mitsuharu Kojima, Satoru Tokutsu, Yuto Mori, Toshiaki Maki, Masayuki Inaba : "Task Guided Attention Control and Visual Verification in Tea Serving by the Daily Assistive Humanoid HRP2JSK", In Proceedings of The 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), pp 1551-1557, 2008. ((The 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems Best Robocup Award)) pdf
• Kei Okada, Mitsuharu Kojima, Yuichi Sagawa, Toshiyuki Ichino, Kenji Sato, Masayuki Inaba : "Vision based behavior verification system of humanoid robot for daily environment tasks", 2006 6th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006), pp 7-12, 2006. (2006 6th IEEE-RAS International Conference on Humanoid Robots Best Paper Award) pdf

Human-Factors

• recommended papers from Wendy Rogers

Healthcare Robotics

• Phys Med Rehabil Clin N Am. 2010 Feb;21(1):59-77. Recent trends in the development and evaluation of assistive robotic manipulation devices. Allin S, Eckel E, Markham H, Brewer BR.

This review explores recent trends in the development and evaluation of assistive robotic arms, both prosthetic and externally mounted. Evaluations have been organized according to the CATOR taxonomy of assistive device outcomes, which takes into consideration device effectiveness, social significance, and impact on subjective well-being. Questions that have informed the review include: (1) Are robotic arms being comprehensively evaluated along axes of the CATOR taxonomy? (2) Are definitions of effectiveness in accordance with the priorities of users? (3) What gaps in robotic arm evaluation exist, and how might these best be addressed? (4) What further advances can be expected in the next 15 years? Results highlight the need for increased standardization of evaluation methods, increased emphasis on the social significance (i.e., social cost) of devices, and increased emphasis on device impact on quality of life. Several open areas for future research, in terms of both device evaluation and device development, are also discussed.

• Applications of robots in rehabilitation. Stan A. Nappera and Ronald L. Seaman. Robotics and Autonomous Systems. Volume 5, Issue 3, November 1989, Pages 227-239. link

* Volume 5, Number 3, November 1989

   * T. Michael Knasel:
     Editorial. 201
     Electronic Edition CiteSeerX Google scholar pubzone.org BibTeX bibliographical record in XML
   * Kent G. Engelhardt:
     Robotics in health and human services. 203
     Electronic Edition CiteSeerX Google scholar pubzone.org BibTeX bibliographical record in XML
   * Kent G. Engelhardt:
     An overview of health and human service robotics. 205-226
     Electronic Edition CiteSeerX Google scholar pubzone.org BibTeX bibliographical record in XML
   * Stan A. Napper, Ronald L. Seaman:
     Applications of robots in rehabilitation. 227-239
     Electronic Edition CiteSeerX Google scholar pubzone.org BibTeX bibliographical record in XML
   * Roger Edwards:
     Diffusion of robotic innovations in health care environments using the interactive evaluation methodology. 241-250
     Electronic Edition CiteSeerX Google scholar pubzone.org BibTeX bibliographical record in XML
   * John Evans, Bala Krishnamurthy, Will Pong, Robert Croston, Carl F. R. Weiman, Gay Engelberger:
     HelpMateTM: A robotic materials transport system. 251-256
     Electronic Edition CiteSeerX Google scholar pubzone.org BibTeX bibliographical record in XML
   * James L. Crowley:
     Planning and execution of tasks for a domestic robot. 257-272
     Electronic Edition CiteSeerX Google scholar pubzone.org BibTeX bibliographical record in XML