Abstract
This manuscript describes a method to program everyday manipulation tasks for the robots from human demonstration by using a movement generating model and primitive skills. The hand movement in the demonstrated task is recorded by using a hand motion tracker with a Kinect camera and a color-marker glove. The recorded movement is segmented to sub-actions and then mapped to primitive skills which can be built independently with the task. To adapt with the change of the goal position, Dynamic Movement Primitives model was applied to generate movement trajectory which follows the demonstrated trajectory. In experiment, we considered the task 'dispensing water' from a water thermos pot performed by a robot arm. We implemented DMPs model for the sub-movement such as 'approaching object' to confirm the adaptation to new goal of movement trajectory. We proposed a list of necessary common skills to use for accomplishing the demonstrated task and can be reused in other everyday manipulation tasks.
| Original language | English |
|---|---|
| Title of host publication | 2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Volume | 2017-September |
| ISBN (Print) | 9781538624197 |
| DOIs | |
| Publication status | Published - 2018 Feb 20 |
| Event | 2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017 - Taipei, Taiwan, Province of China Duration: 2017 Sep 6 → 2017 Sep 8 |
Other
| Other | 2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017 |
|---|---|
| Country | Taiwan, Province of China |
| City | Taipei |
| Period | 17/9/6 → 17/9/8 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Artificial Intelligence
Cite this
Programming everyday task using primitive skills and generative model of movement demonstrated by human. / Hung, Pham Ngoc; Yoshimi, Takashi.
2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017. Vol. 2017-September Institute of Electrical and Electronics Engineers Inc., 2018. 8297177.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Programming everyday task using primitive skills and generative model of movement demonstrated by human
AU - Hung, Pham Ngoc
AU - Yoshimi, Takashi
PY - 2018/2/20
Y1 - 2018/2/20
N2 - This manuscript describes a method to program everyday manipulation tasks for the robots from human demonstration by using a movement generating model and primitive skills. The hand movement in the demonstrated task is recorded by using a hand motion tracker with a Kinect camera and a color-marker glove. The recorded movement is segmented to sub-actions and then mapped to primitive skills which can be built independently with the task. To adapt with the change of the goal position, Dynamic Movement Primitives model was applied to generate movement trajectory which follows the demonstrated trajectory. In experiment, we considered the task 'dispensing water' from a water thermos pot performed by a robot arm. We implemented DMPs model for the sub-movement such as 'approaching object' to confirm the adaptation to new goal of movement trajectory. We proposed a list of necessary common skills to use for accomplishing the demonstrated task and can be reused in other everyday manipulation tasks.
AB - This manuscript describes a method to program everyday manipulation tasks for the robots from human demonstration by using a movement generating model and primitive skills. The hand movement in the demonstrated task is recorded by using a hand motion tracker with a Kinect camera and a color-marker glove. The recorded movement is segmented to sub-actions and then mapped to primitive skills which can be built independently with the task. To adapt with the change of the goal position, Dynamic Movement Primitives model was applied to generate movement trajectory which follows the demonstrated trajectory. In experiment, we considered the task 'dispensing water' from a water thermos pot performed by a robot arm. We implemented DMPs model for the sub-movement such as 'approaching object' to confirm the adaptation to new goal of movement trajectory. We proposed a list of necessary common skills to use for accomplishing the demonstrated task and can be reused in other everyday manipulation tasks.
UR - http://www.scopus.com/inward/record.url?scp=85054298754&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85054298754&partnerID=8YFLogxK
U2 - 10.1109/ARIS.2017.8297177
DO - 10.1109/ARIS.2017.8297177
M3 - Conference contribution
SN - 9781538624197
VL - 2017-September
BT - 2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017
PB - Institute of Electrical and Electronics Engineers Inc.
ER -