2026-04-17T04:27:41Zhttps://recercat.cat/oai/request

oai:recercat.cat:2117/1049592026-02-02T08:29:19Zcom_2072_1033col_2072_452950

urn:hdl:2117/104959 Personalization framework for adaptive robotic feeding assistance Canal Camprodon, Gerard Alenyà Ribas, Guillem Torras, Carme Àrees temàtiques de la UPC::Informàtica::Robòtica Feeding Personnel training Robotics Robots Assistive robotics Automatic feeding Expert users Personalizations Training strategy Classificació INSPEC::Automation::Robots The final publication is available at link.springer.com 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. Peer Reviewed Postprint (author's final draft) 2016 Conference report http://link.springer.com/chapter/10.1007%2F978-3-319-47437-3_3 Open Access