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 | |
| 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 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Control and Optimization
Cite this
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
}
TY - GEN
T1 - Programming Everyday Task by Demonstration using Primitive Skills for a Manipulator
AU - Hung, Pham Ngoc
AU - Yoshimi, Takashi
PY - 2018/8/24
Y1 - 2018/8/24
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=85053844927&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85053844927&partnerID=8YFLogxK
U2 - 10.1109/CYBER.2017.8446427
DO - 10.1109/CYBER.2017.8446427
M3 - Conference contribution
AN - SCOPUS:85053844927
SN - 9781538604892
SP - 321
EP - 325
BT - 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PB - Institute of Electrical and Electronics Engineers Inc.
ER -