Programming groups of local models from human demonstration to create a model for robotic assembly
Programming groups of local models from human demonstration to create a model for robotic assembly
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对来自人类演示的本地模型组进行编程，以创建机器人装配模型
DOI：
10.1109/robot.1998.677028
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
Y. Nanjo
中科院分区：
文献类型：
--
作者：
M. Tsuda;H. Ogata;Y. Nanjo
接触状态转换模型对于运动规划、机器人控制和传感非常有用。然而，对每个对象的整个接触状态转换集进行建模非常麻烦。为了克服这个问题，我们开发了一种使用顶点对之间的局部接触状态转换模型（局部模型）从人类演示中对模型进行编程的方法。我们的方法由三个部分组成：（1）将局部模型分配给将发生接触状态转换的顶点对，（2）根据组装顺序将它们分组，以及（3）统一同一任务的不同演示所产生的不同组。只需通过演示向机器人系统展示装配顺序即可完成分配和分组。统一是通过比较不同组之间的本地模型来完成的。我们将该方法应用于两个对象插入任务，并进行了两种实验：（1）通过演示对本地模型进行编程组；（2）使用编程组由机器人执行演示任务。结果显示了演示编程和建模问题的有效性。
A model of contact-state transitions is useful for motion planning, robot control, and sensing. Modeling the entire set of contact-state transitions every object, however, is very troublesome. To overcome the problem, we have developed a method for programming the model from human demonstration using a model of local contact-state transitions between a vertex pair (local model). Our method consists of three parts: (1) allocating the local model to vertex pairs where contact-state transitions will occur, (2) gathering them into groups according to an assembly sequence, and (3) unifying different groups resulting from different demonstrations of the same task. The allocation and grouping are done by simply showing a robotic system an assembly sequence through demonstration. The unification is done by comparing local models between different groups. We applied the method to two object-insertion tasks and did two kinds of experiments: (1) programming groups of local models from demonstration and (2) performing the demonstrated task by a robot using the programmed groups. The results showed the effectiveness in programming from demonstration and in the modeling problem.