Understanding of Human Assembly Tasks for Robot Execution. Generation of Optimal Trajectories Based on Transitions of Contact Relations
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- Takamatsu Jun
- The University of Tokyo
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- Ogawara Koichi
- The University of Tokyo
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- Kimura Hiroshi
- The University of Electro-communications
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- Ikeuchi Katsushi
- The University of Tokyo
Bibliographic Information
- Other Title
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- ロボットによる実行を目的とした人の組み立て作業の理解 接触状態遷移からの最適軌道の生成
- ロボット ニ ヨル ジッコウ オ モクテキ ト シタ ヒト ノ クミタテ サギョウ ノ リカイ セッショク ジョウタイ センイ カラ ノ サイテキ キドウ ノ セイセイ
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Abstract
The planning-from-observation paradigm is widely noticed as a novel robot-programming technique. It consists of two parts: (1) recognition of a human demonstration from observation as symbolic representation, i.e., a sequence of movement primitives and (2) execution of the same task. Symbolic representation enables a robot to achieve the same task even in a different environment. We already proposed a method to build a symbolic representation for an assembly task. However, for a robot to execute the task, it is necessary to adjust parameters of each movement primitive to generate appropriate trajectories of objects, especially a path which maintains one of any contact states. Many researchers have proposed methods to calculate such a path using a non-linear optimization method, for example, the potential field method, the probabilistic method, and so on. Although these methods are very powerful as calculation tools on a computer, their solutions are not optimal. We propose a novel method to calculate such an optimal path using a linear solution.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 22 (6), 752-763, 2004
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390001204727227904
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- NII Article ID
- 10013445948
- 10015082978
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 7066065
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed