Programming Everyday Task by Demonstration using Primitive Skills for a Manipulator

Pham Ngoc Hung, Takashi Yoshimi

研究成果: Conference contribution

抄録

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.

元の言語English
ホスト出版物のタイトル2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
出版者Institute of Electrical and Electronics Engineers Inc.
ページ321-325
ページ数5
ISBN(印刷物)9781538604892
DOI
出版物ステータスPublished - 2018 8 24
イベント7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 - Honolulu, United States
継続期間: 2017 7 312017 8 4

Other

Other7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
United States
Honolulu
期間17/7/3117/8/4

Fingerprint

Manipulators
Demonstrations
Robots
Water
Trajectories
Experiments

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Optimization

これを引用

Hung, P. N., & Yoshimi, T. (2018). Programming Everyday Task by Demonstration using Primitive Skills for a Manipulator. : 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.

研究成果: Conference contribution

Hung, PN & Yoshimi, T 2018, Programming Everyday Task by Demonstration using Primitive Skills for a Manipulator. : 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
Hung PN, Yoshimi T. Programming Everyday Task by Demonstration using Primitive Skills for a Manipulator. : 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 https://doi.org/10.1109/CYBER.2017.8446427
Hung, Pham Ngoc ; Yoshimi, Takashi. / Programming Everyday Task by Demonstration using Primitive Skills for a Manipulator. 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. pp. 321-325
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