Programming Everyday Task by Demonstration using Primitive Skills for a Manipulator

Pham Ngoc Hung; Takashi Yoshimi

doi:10.1109/CYBER.2017.8446427

Programming Everyday Task by Demonstration using Primitive Skills for a Manipulator

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This manuscript presents a method to program everyday manipulation tasks for a robot by human demonstration using primitive skills. The hand movement in the demonstrated task is recorded then segmented into sub-actions. Each sub-action is mapped to primitives skills of the robot. We proposed a list of necessary skills for a manipulator which are common to use in many everyday tasks. In order to adapt with the change of object's location, we applied Dynamic Movement Primitives model for regenerating movement which follows the demonstrated trajectory. In experiment, we considered the task 'dispensing water' from a water thermos pot performed by a robot arm to verify the proposed method.

Original language	English
Title of host publication	2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	321-325
Number of pages	5
ISBN (Print)	9781538604892
DOIs	https://doi.org/10.1109/CYBER.2017.8446427
Publication status	Published - 2018 Aug 24
Event	7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 - Honolulu, United States Duration: 2017 Jul 31 → 2017 Aug 4

Other

Other	7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Country	United States
City	Honolulu
Period	17/7/31 → 17/8/4

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Control and Optimization

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10.1109/CYBER.2017.8446427

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Hung, P. N., & Yoshimi, T. (2018). Programming Everyday Task by Demonstration using Primitive Skills for a Manipulator. In 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 (pp. 321-325). [8446427] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CYBER.2017.8446427

Programming Everyday Task by Demonstration using Primitive Skills for a Manipulator. / Hung, Pham Ngoc; Yoshimi, Takashi.

2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 321-325 8446427.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hung, PN & Yoshimi, T 2018, Programming Everyday Task by Demonstration using Primitive Skills for a Manipulator. in 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017., 8446427, Institute of Electrical and Electronics Engineers Inc., pp. 321-325, 7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017, Honolulu, United States, 17/7/31. https://doi.org/10.1109/CYBER.2017.8446427

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abstract = "This manuscript presents a method to program everyday manipulation tasks for a robot by human demonstration using primitive skills. The hand movement in the demonstrated task is recorded then segmented into sub-actions. Each sub-action is mapped to primitives skills of the robot. We proposed a list of necessary skills for a manipulator which are common to use in many everyday tasks. In order to adapt with the change of object's location, we applied Dynamic Movement Primitives model for regenerating movement which follows the demonstrated trajectory. In experiment, we considered the task 'dispensing water' from a water thermos pot performed by a robot arm to verify the proposed method.",

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AB - This manuscript presents a method to program everyday manipulation tasks for a robot by human demonstration using primitive skills. The hand movement in the demonstrated task is recorded then segmented into sub-actions. Each sub-action is mapped to primitives skills of the robot. We proposed a list of necessary skills for a manipulator which are common to use in many everyday tasks. In order to adapt with the change of object's location, we applied Dynamic Movement Primitives model for regenerating movement which follows the demonstrated trajectory. In experiment, we considered the task 'dispensing water' from a water thermos pot performed by a robot arm to verify the proposed method.

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Y2 - 31 July 2017 through 4 August 2017

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Programming Everyday Task by Demonstration using Primitive Skills for a Manipulator

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