VIRTUAL ROBOT TEACHING IN THE ASSEMBLY WORK ENVIRONMENT FOR MUTI-FINGERED ROBOTS

被引：0
|
作者：
Kawasaki, Haruhisa [1 ]
Furukawa, Tomohiro [1 ]
Ueki, Satoshi [1 ]
Mouri, Tetsuya [1 ]
机构：
[1] Gifu Univ, Gifu, Japan
来源：
2008 WORLD AUTOMATION CONGRESS PROCEEDINGS, VOLS 1-3 | 2008年
关键词：
Robot; Hand; Teaching; Virtual reality; Haptics; Motion intention;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A virtual robot teaching system, consisting of human demonstration and motion-intention analysis in a virtual reality environment, is an advanced form of automatic programming for multi-fingered robots. We propose a new segmentation method to analyze human motion data. In this method, the human motion data consisting of contact points, grasped force, hand and object position, and the like are segmented into plural primitive motions and the type of task is analyzed based on the sequence of the primitive motions. A trial assembly task using a humanoid robot hand named Gifu Hand III is shown.
引用
收藏
页码：607 / 613
页数：7
相关论文
共 18 条
  • [1] Virtual teaching based on hand manipulability for multi-fingered robots
    Kawasaki, H
    Nakayama, K
    Mouri, T
    Ito, S
    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, : 1388 - 1393
  • [2] On a better hand model in virtual teaching for multi-fingered robots
    Kawasaki, H
    Nakayama, K
    Ito, S
    VSMM 2000: 6TH INTERNATIONAL CONFERENCE ON VIRTUAL SYSTEMS AND MULTIMEDIA, 2000, : 456 - 464
  • [3] Teaching for multi-fingered robots based on motion intention in virtual reality
    Kawasaki, H
    Nakayama, K
    Parker, G
    IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4: 21ST CENTURY TECHNOLOGIES AND INDUSTRIAL OPPORTUNITIES, 2000, : 428 - 433
  • [4] Teaching Robot Kinematic in a Virtual Environment
    Arshad, Haslina
    Jamal, Jaslinda
    Sahran, Shahnorbanun
    WORLD CONGRESS ON ENGINEERING AND COMPUTER SCIENCE, VOLS 1 AND 2, 2010, : 307 - +
  • [5] Virtual Robot Teaching Based on Motion Analysis and Hand Manipulability for Multi-Fingered Robot
    Kawasaki, Haruhisa
    Furukawa, Tomohiro
    Ueki, Satoshi
    Mouri, Tetsuya
    JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING, 2009, 3 (01): : 1 - 12
  • [6] ROBOTIC ASSEMBLY OPERATION TEACHING IN A VIRTUAL ENVIRONMENT
    OGATA, H
    TAKAHASHI, T
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1994, 10 (03): : 391 - 399
  • [7] Socializing with Robots: Human-Robot Interactions within a Virtual Environment
    Richert, Anja
    Shehadeh, Mohammad A.
    Mueller, Sarah L.
    Schroeder, Stefan
    Jeschke, Sabina
    2016 IEEE WORKSHOP ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO), 2016, : 49 - 54
  • [8] Teaching Assembly Tasks to Robots Using a 3D Simulation Environment
    Christos, Papadopoulos
    Christos, Katsanos
    2ND INTERNATIONAL CONFERENCE OF THE GREECE ACM SIGCHI CHAPTER, CHIGREECE 2023, 2023,
  • [9] Application of a virtual environment model to field work planning and the control of distribution line work by robots
    Ishida, H
    Hanaki, S
    Murai, N
    AMC '96-MIE - 1996 4TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS, VOLS 1 AND 2, 1996, : 150 - 155
  • [10] Development of a physically behaved robot work cell in virtual reality for task teaching
    Li, YF
    Ho, J
    Li, N
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2000, 16 (2-3) : 91 - 101
12