Wearable Technology for Robotic Manipulation and Learning
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Chapter 1: Introduction. In this chapter, we present some backgrounds about robots, and discussions on the robotic manipulation learning algorithms. Then imitation learning methods are detailed described. We present the current studies on the wearable demonstration that the demonstrations are built by the wearable devices for imitation learning. In addition, we also discuss some existing challenges. The organization of this chapter is listed as follows. 1.1 Background1.2 State-of-the-art of robotic manipulation learning 1.3 State-of-the-art of imitation learning1.4 State-of-the-art of wearable demonstration1.5 Existing challenges1.6 Summary Chapter 2: Wearable inertial device In this chapter, we present the background about wearable inertial device, and detailed descriptions on the inertial sensors. The calibration methods of sensors and wearable device are developed. The wearable computing algorithms are presented. The experimental results show the performance of the wearable inertial device. The organization of this chapter is listed as follows.2.1 Background2.2 inertial sensors 2.3 Sensor calibration 2.4 Wearable calibration2.5 Wearable computing2.6 Experimental results2.7 Summary Chapter 3: Robotic manipulation learning from indirect demonstration In this chapter, the background of the demonstrations is presented, and the indirect demonstrations are introduced. Then demonstration datasets and the experiments of indirect manipulation demonstration using proposed wearable device are described. And we propose the robotic manipulation learning method by integrating the crucial experience in demonstrations. Finally, we verify the developed methods via both simulations and experiments by grasping various shapes of objects. The organization of this chapter is listed as follows.3.1 Background3.2 Indirect demonstration3.3 Learning method3.4 Experimental results3.5 Summary Chapter 4: Robotic mani
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