Programming everyday task using primitive skills and generative model of movement demonstrated by human

Pham Ngoc Hung, Takashi Yoshimi

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

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 languageEnglish
Title of host publication2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Volume2017-September
ISBN (Print)9781538624197
DOIs
Publication statusPublished - 2018 Feb 20
Event2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017 - Taipei, Taiwan, Province of China
Duration: 2017 Sep 62017 Sep 8

Other

Other2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017
CountryTaiwan, Province of China
CityTaipei
Period17/9/617/9/8

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Artificial Intelligence

Cite this

Hung, P. N., & Yoshimi, T. (2018). Programming everyday task using primitive skills and generative model of movement demonstrated by human. In 2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017 (Vol. 2017-September). [8297177] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ARIS.2017.8297177