NDLI: Teaching by demonstration of assembly motion in VR - non-deterministic search-type motion in the teaching stage

Content Provider	IEEE Xplore Digital Library
Author	Onda, H. Suehiro, T. Kitagaki, K.
Copyright Year	2002
Description	Author affiliation: Nat. Inst. of Adv. Ind. Sci. & Technol., Japan (Onda, H.; Suehiro, T.; Kitagaki, K.)
Abstract	"Teaching by Demonstration" is a method of generating a robot program that makes a robot do the same task as the task that a human operator demonstrates. We have developed a "teaching by demonstration in VR" system that automatically generates a robot program to work in the red world after a task is demonstrated by an operator in the virtual world. This system generates a program that detects each contact state extracted from demonstration in VR and produces it by skillful motion primitives. We find that some types of motion that are included in the recorded motion given by a human operator in the VR in teaching stage cannot be realized in the execution stage if the robot tries to do the same task by using the human demonstration data even on a contact state level. In this paper, based an our observation that a human has the skill wherein contact state transitions are made non-deterministically, we propose a method of dealing with one of the important non-deterministic motions, "non-deterministic search type motion" Experimental results show the feasibility of the method.
Sponsorship	IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. INRIA Rhone-Alpes Grenoble EPFL Lausanne
Starting Page	3066
Ending Page	3072
File Size	507737
Page Count	7
File Format	PDF
ISBN	0780373987
DOI	10.1109/IRDS.2002.1041739
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-09-30
Publisher Place	Switzerland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Education Virtual reality Robotic assembly Humans Assembly systems Robotics and automation Educational robots Service robots Automatic programming Robot programming
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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