@inproceedings {pub2553,
	title = {Learning to Unscrew a Light Bulb from Demonstrations},
	author = {Simon Manschitz AND Jens Kober AND Michael Gienger AND Jan Peters},
	year = {2014},
	month = {June},
	abstract = {We present an approach for learning sequential manipulation skills with a robot.
The skill is demonstrated several times by kinesthetic
teach-in and then gets reproduced by choosing the current action
from a predefined library of basic movements.
The selection is treated as classification problem.
We show how the sequential order of the movements can be used
to improve the classification results. Therefore we present
a concept called Sequence graph which uses the observed
order to reduce the probability of false transitions during the
reproduction.
As experiment we choose to unscrew a light bulb with a 7 DOF WAM
robot arm and a 4 DOF hand attached to it because it requires
fine force interaction between the robot and its environment and
also shows the generalization capabilities of the algorithm.
},
	publisher = {VDE},
	booktitle = {International Symposium on Robotics - ISR 2014}
}