Human demonstration data for fast task teaching

Samuel Okodi, Xin Jiang, Atsushi Konno, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    Robot operation requires a succinct interface with fewer parameters to specify. This paper presents an algorithm to interface an integrated torque control law, and human task demonstration data. The data is comprised of 6 degrees of freedom, pendant force and position data, and hand posture tracking data. The aim is to automatically specify all the required parameters for the control law, which include constrained and non-constrained trajectories, reference task frames and distal end compliance. The algorithm is embedded with functions to optimise, filter, synchronise and enhance safety.

    Original languageEnglish
    Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
    Pages961-966
    Number of pages6
    DOIs
    Publication statusPublished - 2008 Dec 1
    Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
    Duration: 2008 Sep 222008 Sep 26

    Publication series

    Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

    Other

    Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
    CountryFrance
    CityNice
    Period08/9/2208/9/26

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

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