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

Pham Ngoc Hung, Takashi Yoshimi

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(印刷版)9781538624197
DOI
出版ステータスPublished - 2018 2 20
イベント2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017 - Taipei, Taiwan, Province of China
継続期間: 2017 9 62017 9 8

出版物シリーズ

名前International Conference on Advanced Robotics and Intelligent Systems, ARIS
2017-September
ISSN(印刷版)2374-3255
ISSN(電子版)2572-6919

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 人工知能

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