Recognizing Assembly Tasks Through Human Demonstration-Reference-Cited by-同舟云学术

Recognizing Assembly Tasks Through Human Demonstration

Published:2007-07 Issue:7 Volume:26 Page:641-659
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Takamatsu Jun¹,Ogawara Koichi¹,Kimura Hiroshi²,Ikeuchi Katsushi³

Affiliation:

1. Institute of Industrial Science the University of Tokyo Tokyo, Japan, j-taka,ogawara}@cvl.iis.u-tokyo.ac.jp

2. Graduate School of Information Systems the University of Electro-Communications Tokyo, Japan,

3. Graduate School of Interdisciplinary Information Studies the University of Tokyo Tokyo, Japan, -tokyo.ac.jp

Abstract

As one of the methods for reducing the work of programming, the Learning-from-Observation (LFO) paradigm has been heavily promoted. This paradigm requires the programmer only to perform a task in front of a robot and does not require expertise. In this paper, the LFO paradigm is applied to assembly tasks by two rigid polyhedral objects. A method is proposed for recognizing these tasks as a sequence of movement primitives from noise-contaminated data obtained by a conventional 6 degree-of-freedom (DOF) object-tracking system. The system is implemented on a robot with a real-time stereo vision system and dual arms with dexterous hands, and its effectiveness is demonstrated.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/0278364907080736

Reference39 articles.

1. A method for registration of 3-D shapes

2. Learning Robot Behaviour and Skills Based on Human Demonstration and Advice: The Machine Learning Paradigm

3. A search algorithm for motion planning with six degrees of freedom

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