Multi-modal information-sharing teaching system in sensor-based robotics - Structured description based on task properties that enables onsite-tuning by reflecting skills

Makoto Mizukawa, Yukihiro Nakamura, Hiroyuki Ogata, Yoshimasa Yanagihira

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

We consider a teaching system that covers the stages of a task from planning to on-site teaching and propose for it a structured description based on task properties. A multi-modal communication-teaching-advisor (MCTA) system is used for on-site teaching for a tool-manipulating task. The modular structure and object-oriented task handling program enable it to be applied to various robot systems and lets system developers customize the interface easily. The interface allows the operator and robot to share internal and external sensor data via nonverbal media. The intentions of an inexpert operator who has only common knowledge and ordinary abilities can then be transferred to the robot system via nonverbal operation. Experiments showed that two different types of robot controller could be controlled by this teaching system, and the nominal task program was designed for an environment with two controllers.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1535-1540
Number of pages6
Volume2
Publication statusPublished - 2002
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne
Duration: 2002 Sep 302002 Oct 4

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityLausanne
Period02/9/3002/10/4

Fingerprint

Teaching
Robotics
Tuning
Robots
Sensors
Controllers
Planning
Communication
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Mizukawa, M., Nakamura, Y., Ogata, H., & Yanagihira, Y. (2002). Multi-modal information-sharing teaching system in sensor-based robotics - Structured description based on task properties that enables onsite-tuning by reflecting skills. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2, pp. 1535-1540)

Multi-modal information-sharing teaching system in sensor-based robotics - Structured description based on task properties that enables onsite-tuning by reflecting skills. / Mizukawa, Makoto; Nakamura, Yukihiro; Ogata, Hiroyuki; Yanagihira, Yoshimasa.

IEEE International Conference on Intelligent Robots and Systems. Vol. 2 2002. p. 1535-1540.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mizukawa, M, Nakamura, Y, Ogata, H & Yanagihira, Y 2002, Multi-modal information-sharing teaching system in sensor-based robotics - Structured description based on task properties that enables onsite-tuning by reflecting skills. in IEEE International Conference on Intelligent Robots and Systems. vol. 2, pp. 1535-1540, 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, 02/9/30.
Mizukawa M, Nakamura Y, Ogata H, Yanagihira Y. Multi-modal information-sharing teaching system in sensor-based robotics - Structured description based on task properties that enables onsite-tuning by reflecting skills. In IEEE International Conference on Intelligent Robots and Systems. Vol. 2. 2002. p. 1535-1540
Mizukawa, Makoto ; Nakamura, Yukihiro ; Ogata, Hiroyuki ; Yanagihira, Yoshimasa. / Multi-modal information-sharing teaching system in sensor-based robotics - Structured description based on task properties that enables onsite-tuning by reflecting skills. IEEE International Conference on Intelligent Robots and Systems. Vol. 2 2002. pp. 1535-1540
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