Trajectory modification of a cloud learning robot

Kai-Tai Song, Shao Huan Song, Hung Shen Liu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations


In the near future, home service robots will enter our daily life and interact with people more and more frequently. In order to cope with the needs and habits of different users, an easy robot programming method is desirable. For some users, who are not familiar with programming, customizing the robot program deserves attention. This paper suggests a method to use Programming by Demonstration(PbD) to teach a robot through user demonstration of the trajectory and save the trajectory into a cloud database to facilitate future playback when needed. Through the cloud database, each robot shares previously recorded trajectories. However, in many cases a recorded trajectory may need to be modified to be customized for an individual user. In this paper, a method is proposed to facilitate the robot to return to the original trajectory as part of the retrieved trajectory is modified. Experimental results are presented by using two robots in the robotic cloud system. The first one is the prototype dual-Arm home service robot Aladdin developed in the lab. The second robot is a TM5 robot from Techman, which reproduced the learned trajectories remotely.

Original languageEnglish
Title of host publication2017 International Automatic Control Conference, CACS 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538639009
StatePublished - 7 Feb 2018
Event2017 International Automatic Control Conference, CACS 2017 - Pingtung, Taiwan
Duration: 12 Nov 201715 Nov 2017

Publication series

Name2017 International Automatic Control Conference, CACS 2017


Conference2017 International Automatic Control Conference, CACS 2017


  • cloud robot
  • compliant motion
  • motion control
  • programming by demonstration

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