NDLI: Symbolic representation of trajectories for skill generation

Content Provider	IEEE Xplore Digital Library
Author	Tominaga, H. Takamatsu, J. Ogawara, K. Kimura, H. Ikeuchi, K.
Copyright Year	2000
Description	Author affiliation: Inst. of Ind. Sci., Tokyo Univ., Japan (Tominaga, H.)
Abstract	The completion of robot programs requires long development time and much effort. To shorten this programming time and minimize the effort, we have been developing a system which we refer to as "assembly-plan-from-observation (APO) system;" this system provides the ability for a robot to observe a human performing an assembly tasks, understand the tasks, and subsequently generate a program to perform that same task. One of the necessary tasks in APO is to create a trajectory of robot hand movement from observing human performance. The previous system developed a direct observation method based on the trajectory of a human movement. Though simple and handy, the system was susceptible to noise. This paper proposes a method to make the observation robust against noise by using symbolic representations of a trajectory based on contact analysis. The system divides the trajectory into small segments based on the contact analysis, then allocates an operation element referred to as a sub-skill to those segments; the result is a robust trajectory-based APO system.
Starting Page	4076
Ending Page	4081
File Size	603549
Page Count	6
File Format	PDF
ISBN	0780358864
ISSN	10504729
DOI	10.1109/ROBOT.2000.845367
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-04-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotic assembly Humans Assembly systems Robotics and automation Face Noise robustness Service robots Design automation Information systems Monitoring
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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