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Thesis dissertation: Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration

Miguel González-Fierro, profile picture
Miguel González-Fierro

The document discusses control of complex postural tasks for humanoid robots based on learning from demonstration. It covers several topics: imitation learning and skill innovation for single skills; planning and control of sequential skills; postural control using fractional calculus controllers; and high-level control architecture for executing complex tasks. The key contributions are in postural motion planning and control using reward functions; modeling sequential skills as reward transition matrices; and applying fractional control to reduce model disturbances. Future work areas include goal emulation, reward profile selection using machine learning, and implementing fractional control on a real humanoid.

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Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 1 Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration Miguel González-Fierro Palacios Advisers: Prof. Carlos Balaguer Universidad Carlos III Dr. Thrishantha Nanayakkara King’s College London
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 2 Behavior transfer & postural control
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 3 High level order
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 4 Introduction Objectives 1. Postural planning and control of a single skill 2. Postural planning and control of consecutive skills 3. Execution of high level order
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 5 Introduction Outline HIGH LEVEL ORDER Environment analysis Postural planning Postural control SINGLE SKILL BASIC CONCEPTS SEQUENTIAL SKILLS POSTURAL CONTROL 2 3 4 5 6Sequential imitation Sequential innovation Behavior selection Model selection Fractional control PID vs Imitation learning Skill innovation Behavior representation Humanoid models Gait Dance mimicking   PI D
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 6 2. BASIC REPRESENTATIONS FOR POSTURAL CONTROL IN HUMANOIDS
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 7 Basic Representations Humanoid robot models
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 8 Basic Representations Zero Moment Point
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 9 Basic Representations 3D Linear Inverted Pendulum Model
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 10 Basic Representations Cart Table Model
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 11 Basic Representations Cart Table Model
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 12 Basic Representations Gait Simulation
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 13 Basic Representations Humanoid Gait
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 14 Basic Representations Robot Mimicking
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 15 Basic Representations Dance Routine
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 16 Basic Representations Video
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 17 3. IMITATION LEARNING AND SKILL INNOVATION IN HUMANOIDS THROUGH REWARD TEMPLATES
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 18 Postural Planning of a Single Skill Learning in Humans How do they learn?
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 19 Postural Planning of a Single Skill Imitation in Robots 1. Determine what to imitate 2. Establish a metrics for imitation 3. Map between dissimilar bodies 4. Compute the control commands
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 20 Postural Planning of a Single Skill Imitation and Innovation of a Skill
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 21 Postural Planning of a Single Skill Data Acquisition
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 22 Postural Planning of a Single Skill ZMP and Torque Data
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 23 Postural Planning of a Single Skill Reward Function
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 24 Postural Planning of a Single Skill Markov Chains and Transition Matrix Markov property: Markov transition matrix: Polynomial reward function Gaussian reward function
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 25 Postural Planning of a Single Skill Behavior Strategy Asumption
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 26 Postural Planning of a Single Skill Imitation and Innovation Reward
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 27 Postural Planning of a Single Skill Robot ZMP ZMP imitation ZMP innovation
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 28 Postural Planning of a Single Skill Robot Torque Torque imitation Torque innovation
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 29 Postural Planning of a Single Skill Experiments Imitation Innovation
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 30 Postural Planning of a Single Skill Video
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 31 4. LEARNING AND IMPROVING A SEQUENCE OF GOAL DIRECTED SKILLS
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 32 Postural Planning of Sequential Skills Planning Sequential Skills
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 33 Postural Planning of Sequential Skills Overview of Sequential Imitation
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 34 Postural Planning of Sequential Skills Overview of Sequential Innovation
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 35 Postural Planning of Sequential Skills Policy Definition
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 36 Postural Planning of Sequential Skills Encoding Demonstrations GMM GMRData
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 37 Postural Planning of Sequential Skills Behavior Definition B1: Approaching the door B2: Grasping the knob B3: Pulling the door B4: Releasing the knob
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 38 Postural Planning of Sequential Skills Behavior Selector
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 39 Postural Planning of Sequential Skills Contex-Based Reward Functions Basis Reward Function: Behavior based Reward Function: Reward Profiles
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 40 Postural Planning of Sequential Skills Humanoid Opening a Door
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 41 Postural Planning of Sequential Skills Video
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 42 5. ROBUST CONTROL OF HUMANOID MODELS THROUGH FRACTIONAL CALCULUS
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 43 Postural Control Humanoid Models Discussion VS
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 44 Postural Control Our Approach Reduced model + Fractional Order Controller
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 45 Postural Control Fractional Order Controller Cope with mismatches in the model Robust against disturbances Approximation as a rational function +1Kg +1Kg +1Kg
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 46 Postural Control Model Identification
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 47 Postural Control State Space Equations
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 48 Postural Control Control System
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 49 Postural Control PID vs Fractional PID Performance comparison between nominal and overloaded system (+3Kg)
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 50 6. CONTROL OF HUMANOID ROBOTS EXECUTING COMPLEX TASKS
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 51 High Level Architecture Architecture Overview
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 52 High Level Architecture Floor and Obstacles Estimation Normals Estimation Plane Estimation Obstacle Clustering Covariance matrix Eigenvalues/Eigenvectors Normals direction RANSAC Inliers: 70% (Plane) Outliers: 30% (Obstacles) Euclidean Clustering using K-mean and KD-trees
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 53 High Level Architecture Environment Analysis
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 54 High Level Architecture Environment Model
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 55 High Level Architecture Video
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 56 High Level Architecture Global Path Planning
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 57 High Level Architecture Video
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 58 High Level Architecture Postural Skill Generator
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 59 High Level Architecture Postural Motion Planning
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 60 High Level Architecture Whole Body Postural Control
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 61 High Level Architecture Correction of Disturbances distF
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 62 7. CONCLUSIONS AND FUTURE WORKS
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 63 Conclusions Summary HIGH LEVEL ORDER Environment analysis Postural planning Postural control SINGLE SKILL BASIC CONCEPTS SEQUENTIAL SKILLS POSTURAL CONTROL 2 3 4 5 6Sequential imitation Sequential innovation Behavior selection Model selection Fractional control PID vs Imitation learning Skill innovation Behavior representation Humanoid models Gait Dance mimicking   PI D
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 64 Conclusions Key Contributions Postural Motion Planning and Control Reward trajectory as behavior metrics Reward Transition Matrix as behavior representation Postural planning and control architecture Learning from Demonstration Single skill transference through multimodal reward profile Skill transference through Reward Transition Matrix Imitation extended to a set of sequential skills Skill innovation Maximization of positive difference of imitation reward Application to a set of sequential skills Modelling and Control Reduced model of the humanoid controlled by fractional controller
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 65 Conclusions Future Works New approaches on goal emulation and intention understanding Selection of reward profile through machine learning techniques Behavior transference between robot-robot or human-human Implementation of fractional controller in the real humanoid Decision module to autonomously generate the postural path
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 66 Conclusions List of Publications Journal papers - González-Fierro, M., Balaguer, C., Swann, N., and Nanayakkara, T. (2014). Full-Body Postural Control of a Humanoid Robot with Both Imitation Learning and Skill Innovation. International Journal of Humanoid Robotics, 11(2):1450012. - Monje, C.A., Pierro, P., Ramos, T., González-Fierro, M., Balaguer, C. (2013). Modelling and Simulation of the Humanoid Robot HOAP-3 in the OpenHRP3 Platform Cybernetics and Systems, 44(8):663-680. - Bueno, J. G., González-Fierro, M., Moreno, L., and Balaguer, C. (2013). Facial Emotion Recognition and Adaptative Postural Reaction by a Humanoid based on Neural Evolution International Journal of Advanced Computer Science, 3(10):481-493. - González-Fierro, M., Hernández, D., Nanayakkara, T., and Balaguer, C. (2014).Behavior Sequencing Based on Demonstrations-a Case of a Humanoid Opening a Door while Walking. submitted to Advanced Robotics. - González-Fierro, M., Monje, C. A., and Balaguer, C. (2014). Fractional Control of a Humanoid Robot Reduced Model with Model Disturbances. submitted to Cybernetics and Systems Conference/Symposium papers - González-Fierro, M., Balaguer, C., Swann, N., and Nanayakkara, T. (2013). A Humanoid Robot Standing Up Through Learning from Demonstration Using a Multimodal Reward Function. In IEEERAS International Conference on Humanoid Robots, 2013. Humanoids 2013. - González-Fierro, M., Bueno, J., Balaguer, C., and Moreno, L. (2013). A Complete 3D Perception and Path Planning Architecture for a Humanoid. Robocity2030 11th Workshop: Robots Sociales, pages 167-184. - González-Fierro, M., Maldonado, M. A., Víctores, J. G., Morante, S., and Balaguer, C. (2013). Object Tagging for Human-Robot Interaction by Recolorization using Gaussian Mixture Models. In Proceedings of Robocity2030 12th Workshop: Robótica Cognitiva, pages 67-76.
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 67 Conclusions List of Publications - González-Fierro, M., Monje, C., González, V., and Balaguer, C. (2013). Evolutionary Fractional Order Control of a Humanoid Robot Modeled as a Triple Inverted Pendulum. In Proceedings of Robocity2030 11th Workshop: Robots Sociales, pages 245-263. - González-Fierro, M., Monje, C. A., and Balaguer, C. (2013). Robust Control of a Reduced Humanoid Robot Model using Genetic Algorithms and Fractional Calculus. In Mathematical Methods in Engineering International Conference MME2013, pages 183-194. - Bueno, J., Martín, A., González-Fierro, M., Moreno, L., and Balaguer, C. (2013). Distinguishing between Similar Objects based on Geometrical Features in 3D Perception. In Proceedings of Robocity2030 12th Workshop: Robótica Cognitiva, pages 77-92. - Víctores, J. G., Morante, S., González-Fierro, M., and Balaguer, C. (2013). Augmented Reality and Social Interaction platform through Multirobot Design. In Proceedings of Robocity2030 11th Workshop: Robots Sociales, pages 131-143. - González-Fierro, M., Hernández, D., Pierro, P., and Balaguer, C. (2012). Dynamic Modelling of Humanoid Robots Using Spatial Algebra. In XXXIII Jornadas de Automática. CEA. - Pierro, P., Hernández, D., Herrero, D., González-Fierro, M., and Balaguer, C. (2012). Perception System for Working with Humanoid Robots in Unstructured Collaborative Scenarios. In Proceedings of the 2012 International IEEE Intelligent Vehicles Symposium. Workshops V Perception in Robotics. IEEE. - Bueno, J. G., González-Fierro, M., L.Moreno, and C.Balaguer (2012). Facial Gesture Recognition using Active Appearance Models based on Neural Evolution. In 2012 International Conference on Human-Robot Interaction (HRI 2012), pages 133-134. IEEE. - Monje, C. A., Pierro, P., Ramos, T., González-Fierro, M., and Balaguer, C. (2011). Modelling and Simulation of the Humanoid Robot HOAP-3 in the OpenHRP3 Platform. In Proceedings of Robot 2011. Workshop Robots Humanoides.
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 68 Conclusions List of Publications - Bueno, J. G., González-Fierro, M., Moreno, L., and Balaguer, C. (2011). Facial Gesture Recognition and Postural Interaction using Neural Evolution Algorithm and Active Appearance Models. In Proceedings of Robocity2030 9th Workshop: Robots colaborativos e interacción humano-robot, pages 145-159. - González-Fierro, M., Jardón, A., Martínez de la Casa, S., Stoelen, M. F., Víctores, J. G., Balaguer, C. (2010). Educational Initiatives Related with the CEABOT Contest. Proceedings of SIMPAR, pp 649-658. - Mateo, A. P., González-Fierro, M., Hernández, D., Pierro, P., and Balaguer, C. (2010). Robust Real Time Stabilization: Estabilización de la Imagen con Aplicación en el Robot Humanoide HOAP-3. In Proceedings of Robocity2030 7th Workshop: Visión en Robótica. - Peña, A., Hernández, D., González-Fierro, M., Pierro, P., and Balaguer, C. (2010). Sistema de Visión del Humanoide HOAP-3 para la Detección e Identificación de Objetos Mediante Librerías OpenCV. In Proceedings of Robocity2030 7th Workshop: Visión en Robótica. - Pierro, P., González-Fierro, M., and Balaguer, C. (2009). El Proyecto Europeo ROBOT@CWE: Advanced Robotic Systems in Future Collaborative Working Environments. In Proceedings of Robot 2009. II Workshop de Robotica (ROBOT 2009). - Pierro, P., Hernández, D., González-Fierro, M., Blasi, L., Milani, A., and Balaguer, C. (2009). A Human-Humanoid Interface for Collaborative Tasks. In Proceedings on the Second workshop for young Researchers on Human-friendly robotics, Sestri Levante, Italy. - Pierro, P., Hernández, D., González-Fierro, M., Blasi, L., Milani, A., and Balaguer, C. (2009). Humanoid Teleoperation System for Space Environments. In Advanced Robotics, 2009. ICAR 2009. International Conference on, pages 1-6. IEEE. - González-Fierro, M., Pierro, P., Jardón, A., Herrero, D., and Balaguer, C. (2009). Realización de Tareas Colaborativas entre Robots Humanoides. Experimentación con dos Robots Robonova. In Proceedings of Robocity2030 5th Workshop: Cooperación en Robótica.
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 69 One more thing…
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 70
Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 71 Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration Miguel González-Fierro Palacios Advisers: Prof. Carlos Balaguer Universidad Carlos III Dr. Thrishantha Nanayakkara King’s College London

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Thesis dissertation: Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration

  • 1. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 1 Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration Miguel González-Fierro Palacios Advisers: Prof. Carlos Balaguer Universidad Carlos III Dr. Thrishantha Nanayakkara King’s College London
  • 2. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 2 Behavior transfer & postural control
  • 3. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 3 High level order
  • 4. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 4 Introduction Objectives 1. Postural planning and control of a single skill 2. Postural planning and control of consecutive skills 3. Execution of high level order
  • 5. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 5 Introduction Outline HIGH LEVEL ORDER Environment analysis Postural planning Postural control SINGLE SKILL BASIC CONCEPTS SEQUENTIAL SKILLS POSTURAL CONTROL 2 3 4 5 6Sequential imitation Sequential innovation Behavior selection Model selection Fractional control PID vs Imitation learning Skill innovation Behavior representation Humanoid models Gait Dance mimicking   PI D
  • 6. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 6 2. BASIC REPRESENTATIONS FOR POSTURAL CONTROL IN HUMANOIDS
  • 7. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 7 Basic Representations Humanoid robot models
  • 8. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 8 Basic Representations Zero Moment Point
  • 9. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 9 Basic Representations 3D Linear Inverted Pendulum Model
  • 10. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 10 Basic Representations Cart Table Model
  • 11. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 11 Basic Representations Cart Table Model
  • 12. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 12 Basic Representations Gait Simulation
  • 13. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 13 Basic Representations Humanoid Gait
  • 14. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 14 Basic Representations Robot Mimicking
  • 15. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 15 Basic Representations Dance Routine
  • 16. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 16 Basic Representations Video
  • 17. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 17 3. IMITATION LEARNING AND SKILL INNOVATION IN HUMANOIDS THROUGH REWARD TEMPLATES
  • 18. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 18 Postural Planning of a Single Skill Learning in Humans How do they learn?
  • 19. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 19 Postural Planning of a Single Skill Imitation in Robots 1. Determine what to imitate 2. Establish a metrics for imitation 3. Map between dissimilar bodies 4. Compute the control commands
  • 20. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 20 Postural Planning of a Single Skill Imitation and Innovation of a Skill
  • 21. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 21 Postural Planning of a Single Skill Data Acquisition
  • 22. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 22 Postural Planning of a Single Skill ZMP and Torque Data
  • 23. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 23 Postural Planning of a Single Skill Reward Function
  • 24. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 24 Postural Planning of a Single Skill Markov Chains and Transition Matrix Markov property: Markov transition matrix: Polynomial reward function Gaussian reward function
  • 25. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 25 Postural Planning of a Single Skill Behavior Strategy Asumption
  • 26. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 26 Postural Planning of a Single Skill Imitation and Innovation Reward
  • 27. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 27 Postural Planning of a Single Skill Robot ZMP ZMP imitation ZMP innovation
  • 28. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 28 Postural Planning of a Single Skill Robot Torque Torque imitation Torque innovation
  • 29. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 29 Postural Planning of a Single Skill Experiments Imitation Innovation
  • 30. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 30 Postural Planning of a Single Skill Video
  • 31. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 31 4. LEARNING AND IMPROVING A SEQUENCE OF GOAL DIRECTED SKILLS
  • 32. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 32 Postural Planning of Sequential Skills Planning Sequential Skills
  • 33. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 33 Postural Planning of Sequential Skills Overview of Sequential Imitation
  • 34. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 34 Postural Planning of Sequential Skills Overview of Sequential Innovation
  • 35. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 35 Postural Planning of Sequential Skills Policy Definition
  • 36. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 36 Postural Planning of Sequential Skills Encoding Demonstrations GMM GMRData
  • 37. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 37 Postural Planning of Sequential Skills Behavior Definition B1: Approaching the door B2: Grasping the knob B3: Pulling the door B4: Releasing the knob
  • 38. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 38 Postural Planning of Sequential Skills Behavior Selector
  • 39. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 39 Postural Planning of Sequential Skills Contex-Based Reward Functions Basis Reward Function: Behavior based Reward Function: Reward Profiles
  • 40. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 40 Postural Planning of Sequential Skills Humanoid Opening a Door
  • 41. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 41 Postural Planning of Sequential Skills Video
  • 42. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 42 5. ROBUST CONTROL OF HUMANOID MODELS THROUGH FRACTIONAL CALCULUS
  • 43. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 43 Postural Control Humanoid Models Discussion VS
  • 44. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 44 Postural Control Our Approach Reduced model + Fractional Order Controller
  • 45. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 45 Postural Control Fractional Order Controller Cope with mismatches in the model Robust against disturbances Approximation as a rational function +1Kg +1Kg +1Kg
  • 46. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 46 Postural Control Model Identification
  • 47. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 47 Postural Control State Space Equations
  • 48. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 48 Postural Control Control System
  • 49. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 49 Postural Control PID vs Fractional PID Performance comparison between nominal and overloaded system (+3Kg)
  • 50. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 50 6. CONTROL OF HUMANOID ROBOTS EXECUTING COMPLEX TASKS
  • 51. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 51 High Level Architecture Architecture Overview
  • 52. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 52 High Level Architecture Floor and Obstacles Estimation Normals Estimation Plane Estimation Obstacle Clustering Covariance matrix Eigenvalues/Eigenvectors Normals direction RANSAC Inliers: 70% (Plane) Outliers: 30% (Obstacles) Euclidean Clustering using K-mean and KD-trees
  • 53. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 53 High Level Architecture Environment Analysis
  • 54. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 54 High Level Architecture Environment Model
  • 55. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 55 High Level Architecture Video
  • 56. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 56 High Level Architecture Global Path Planning
  • 57. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 57 High Level Architecture Video
  • 58. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 58 High Level Architecture Postural Skill Generator
  • 59. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 59 High Level Architecture Postural Motion Planning
  • 60. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 60 High Level Architecture Whole Body Postural Control
  • 61. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 61 High Level Architecture Correction of Disturbances distF
  • 62. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 62 7. CONCLUSIONS AND FUTURE WORKS
  • 63. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 63 Conclusions Summary HIGH LEVEL ORDER Environment analysis Postural planning Postural control SINGLE SKILL BASIC CONCEPTS SEQUENTIAL SKILLS POSTURAL CONTROL 2 3 4 5 6Sequential imitation Sequential innovation Behavior selection Model selection Fractional control PID vs Imitation learning Skill innovation Behavior representation Humanoid models Gait Dance mimicking   PI D
  • 64. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 64 Conclusions Key Contributions Postural Motion Planning and Control Reward trajectory as behavior metrics Reward Transition Matrix as behavior representation Postural planning and control architecture Learning from Demonstration Single skill transference through multimodal reward profile Skill transference through Reward Transition Matrix Imitation extended to a set of sequential skills Skill innovation Maximization of positive difference of imitation reward Application to a set of sequential skills Modelling and Control Reduced model of the humanoid controlled by fractional controller
  • 65. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 65 Conclusions Future Works New approaches on goal emulation and intention understanding Selection of reward profile through machine learning techniques Behavior transference between robot-robot or human-human Implementation of fractional controller in the real humanoid Decision module to autonomously generate the postural path
  • 66. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 66 Conclusions List of Publications Journal papers - González-Fierro, M., Balaguer, C., Swann, N., and Nanayakkara, T. (2014). Full-Body Postural Control of a Humanoid Robot with Both Imitation Learning and Skill Innovation. International Journal of Humanoid Robotics, 11(2):1450012. - Monje, C.A., Pierro, P., Ramos, T., González-Fierro, M., Balaguer, C. (2013). Modelling and Simulation of the Humanoid Robot HOAP-3 in the OpenHRP3 Platform Cybernetics and Systems, 44(8):663-680. - Bueno, J. G., González-Fierro, M., Moreno, L., and Balaguer, C. (2013). Facial Emotion Recognition and Adaptative Postural Reaction by a Humanoid based on Neural Evolution International Journal of Advanced Computer Science, 3(10):481-493. - González-Fierro, M., Hernández, D., Nanayakkara, T., and Balaguer, C. (2014).Behavior Sequencing Based on Demonstrations-a Case of a Humanoid Opening a Door while Walking. submitted to Advanced Robotics. - González-Fierro, M., Monje, C. A., and Balaguer, C. (2014). Fractional Control of a Humanoid Robot Reduced Model with Model Disturbances. submitted to Cybernetics and Systems Conference/Symposium papers - González-Fierro, M., Balaguer, C., Swann, N., and Nanayakkara, T. (2013). A Humanoid Robot Standing Up Through Learning from Demonstration Using a Multimodal Reward Function. In IEEERAS International Conference on Humanoid Robots, 2013. Humanoids 2013. - González-Fierro, M., Bueno, J., Balaguer, C., and Moreno, L. (2013). A Complete 3D Perception and Path Planning Architecture for a Humanoid. Robocity2030 11th Workshop: Robots Sociales, pages 167-184. - González-Fierro, M., Maldonado, M. A., Víctores, J. G., Morante, S., and Balaguer, C. (2013). Object Tagging for Human-Robot Interaction by Recolorization using Gaussian Mixture Models. In Proceedings of Robocity2030 12th Workshop: Robótica Cognitiva, pages 67-76.
  • 67. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 67 Conclusions List of Publications - González-Fierro, M., Monje, C., González, V., and Balaguer, C. (2013). Evolutionary Fractional Order Control of a Humanoid Robot Modeled as a Triple Inverted Pendulum. In Proceedings of Robocity2030 11th Workshop: Robots Sociales, pages 245-263. - González-Fierro, M., Monje, C. A., and Balaguer, C. (2013). Robust Control of a Reduced Humanoid Robot Model using Genetic Algorithms and Fractional Calculus. In Mathematical Methods in Engineering International Conference MME2013, pages 183-194. - Bueno, J., Martín, A., González-Fierro, M., Moreno, L., and Balaguer, C. (2013). Distinguishing between Similar Objects based on Geometrical Features in 3D Perception. In Proceedings of Robocity2030 12th Workshop: Robótica Cognitiva, pages 77-92. - Víctores, J. G., Morante, S., González-Fierro, M., and Balaguer, C. (2013). Augmented Reality and Social Interaction platform through Multirobot Design. In Proceedings of Robocity2030 11th Workshop: Robots Sociales, pages 131-143. - González-Fierro, M., Hernández, D., Pierro, P., and Balaguer, C. (2012). Dynamic Modelling of Humanoid Robots Using Spatial Algebra. In XXXIII Jornadas de Automática. CEA. - Pierro, P., Hernández, D., Herrero, D., González-Fierro, M., and Balaguer, C. (2012). Perception System for Working with Humanoid Robots in Unstructured Collaborative Scenarios. In Proceedings of the 2012 International IEEE Intelligent Vehicles Symposium. Workshops V Perception in Robotics. IEEE. - Bueno, J. G., González-Fierro, M., L.Moreno, and C.Balaguer (2012). Facial Gesture Recognition using Active Appearance Models based on Neural Evolution. In 2012 International Conference on Human-Robot Interaction (HRI 2012), pages 133-134. IEEE. - Monje, C. A., Pierro, P., Ramos, T., González-Fierro, M., and Balaguer, C. (2011). Modelling and Simulation of the Humanoid Robot HOAP-3 in the OpenHRP3 Platform. In Proceedings of Robot 2011. Workshop Robots Humanoides.
  • 68. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 68 Conclusions List of Publications - Bueno, J. G., González-Fierro, M., Moreno, L., and Balaguer, C. (2011). Facial Gesture Recognition and Postural Interaction using Neural Evolution Algorithm and Active Appearance Models. In Proceedings of Robocity2030 9th Workshop: Robots colaborativos e interacción humano-robot, pages 145-159. - González-Fierro, M., Jardón, A., Martínez de la Casa, S., Stoelen, M. F., Víctores, J. G., Balaguer, C. (2010). Educational Initiatives Related with the CEABOT Contest. Proceedings of SIMPAR, pp 649-658. - Mateo, A. P., González-Fierro, M., Hernández, D., Pierro, P., and Balaguer, C. (2010). Robust Real Time Stabilization: Estabilización de la Imagen con Aplicación en el Robot Humanoide HOAP-3. In Proceedings of Robocity2030 7th Workshop: Visión en Robótica. - Peña, A., Hernández, D., González-Fierro, M., Pierro, P., and Balaguer, C. (2010). Sistema de Visión del Humanoide HOAP-3 para la Detección e Identificación de Objetos Mediante Librerías OpenCV. In Proceedings of Robocity2030 7th Workshop: Visión en Robótica. - Pierro, P., González-Fierro, M., and Balaguer, C. (2009). El Proyecto Europeo ROBOT@CWE: Advanced Robotic Systems in Future Collaborative Working Environments. In Proceedings of Robot 2009. II Workshop de Robotica (ROBOT 2009). - Pierro, P., Hernández, D., González-Fierro, M., Blasi, L., Milani, A., and Balaguer, C. (2009). A Human-Humanoid Interface for Collaborative Tasks. In Proceedings on the Second workshop for young Researchers on Human-friendly robotics, Sestri Levante, Italy. - Pierro, P., Hernández, D., González-Fierro, M., Blasi, L., Milani, A., and Balaguer, C. (2009). Humanoid Teleoperation System for Space Environments. In Advanced Robotics, 2009. ICAR 2009. International Conference on, pages 1-6. IEEE. - González-Fierro, M., Pierro, P., Jardón, A., Herrero, D., and Balaguer, C. (2009). Realización de Tareas Colaborativas entre Robots Humanoides. Experimentación con dos Robots Robonova. In Proceedings of Robocity2030 5th Workshop: Cooperación en Robótica.
  • 69. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 69 One more thing…
  • 70. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 70
  • 71. Miguel González-Fierro | Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration 71 Humanoid Robot Control of Complex Postural Tasks based on Learning from Demonstration Miguel González-Fierro Palacios Advisers: Prof. Carlos Balaguer Universidad Carlos III Dr. Thrishantha Nanayakkara King’s College London