基元库构建思想的机器人动作与策略演示学习方法  

Robotic Actions and Strategy Demonstration Learning Method for Constructing Primitive Library Ideas

作　　者：李铁军[1] 刘家奇 刘今越[1] 贾晓辉[1] LI Tiejun;LIU Jiaqi;LIU Jinyue;JIA Xiaohui(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]河北工业大学机械工程学院,天津300401

出　　处：《计算机工程与应用》2024年第8期90-98,共9页Computer Engineering and Applications

基　　金：国家自然科学基金(U20A20283,U181320104)。

摘　　要：为解决机器人演示学习过程中演示数据优化、动作与任务策略的存储调用问题,提出一种利用基元库思想的演示学习方法。动作学习采用专家拖动机械臂执行动作获取演示数据,利用高斯混合模型与高斯混合回归提升数据质量,由动态运动基元算法转换为基函数的权重值。策略学习将任务步骤创建为动作基元,向基元内添加得到的权重值并构建包含任务执行策略的基元名片,由基元组成基元库完成存储。执行任务时从基元库中有序调用基元,利用YOLOv5目标检测网络和AlexNet图像分类网络检测目标信息,匹配动作并泛化出具有原动作特征的新动作。该方法实现了从演示中学习动作与策略存储,根据实际目标组合合适动作完成任务。钢筋绑扎实验创建5个动作基元,通过专家演示学习10个动作,机器人利用动作基元库成功完成水平面与竖直面钢筋交叉点绑扎任务说明其有效性。In order to solve the problems of demonstration data optimization,action and task strategy storage and call in the process of robot demonstration learning,a demonstration learning method based on primitive library is proposed.Action learning uses experts to drag the manipulator to perform actions to obtain demonstration data.Gaussian mixture model and Gaussian mixture regression are used to improve the data quality,and the final demonstration data is converted into the weight value of the basis function by the dynamic motion primitive algorithm.Strategy learning creates task steps as action primitives,adds the obtained weight value to the primitives,builds the primitive business card containing task execution strategy,and forms the primitive library to complete storage.When executing tasks,the primitives are sequen-tially called from the primitive library.YOLOv5 target detection network and AlexNet image classification network are used to detect target information to match actions and generalize new actions with original action characteristics.This method realizes learning actions and strategy storage from the demonstration,and combining appropriate actions to complete tasks according to actual goals.According to the experiment of steel bar binding scene,5 action primitives are created,10 basic actions are learned through expert teaching,the robot successfully completes the lashing task at the inter-section of horizontal and vertical reinforcement by using the action primitive library.

关 键 词：演示学习 轨迹模仿学习 任务策略学习 动态运动基元 运动基元库 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]