A Programming by Demonstration System for Human-Robot Collaborative Assembly Tasks

被引：0
|
作者：
Hamabe, Takuma [1 ]
Goto, Hiraki [1 ]
Miura, Jun [1 ]
机构：
[1] Toyohashi Univ Technol, Dept Comp Sci & Engn, Toyohashi, Aichi, Japan
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2015年
关键词：
Programming by demonstration; collaborative assembly; humanoid;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Programming by demonstration (PbD) has been one of the promising approaches to robot programming, where a robot learns how to operate by observing human demonstrations. While most of existing PhD research dealt with single-agent tasks, this paper deals with collaborative tasks, in which a robot and a human collaborate to assemble a structure by coordinating their operations. The system has three parts: demonstration observation parts, task modeling parts, and task execution parts. A scene recognition system is developed for reliable action recognition in human demonstrations. The developed PbD system has successfully been applied to a collaborative assembly tasks with more than twenty assembly steps.
引用
收藏
页码：1195 / 1201
页数：7
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