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

抜粋

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.

元の言語English
ホスト出版物のタイトル2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017
出版者Institute of Electrical and Electronics Engineers Inc.
2017-September
ISBN(印刷物)9781538624197
DOI
出版物ステータス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

Other

Other2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017
Taiwan, Province of China
Taipei
期間17/9/617/9/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Artificial Intelligence

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  • これを引用

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