Manipulation Motion Taxonomy and Coding for Robots
Manipulation Motion Taxonomy and Coding for Robots
复制标题
机器人的操纵运动分类和编码
DOI：
10.1109/iros40897.2019.8967754
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Yu Sun
中科院分区：
文献类型：
--
作者：
D. Paulius;Yongqiang Huang;J. Meloncon;Yu Sun
本文介绍了一种分类的操作，特别是在烹饪1）分组操作从机器人的角度来看，2）巩固别名和消除运动类型的歧义，和3）提供了一条路径，将学习的操作新的未学习的操作。使用教学视频作为参考，我们选择了一个列表中常见的操作动作在烹饪活动中看到的分组为类似的运动的基础上的几个轨迹和接触属性。操作代码，然后开发的分类属性的基础上表示的操作运动。操作分类，然后用于比较日常交互式操作（DIM）数据集中的运动数据，以揭示它们的运动相似性。
This paper introduces a taxonomy of manipulations as seen especially in cooking for 1) grouping manipulations from the robotics point of view, 2) consolidating aliases and removing ambiguity for motion types, and 3) provide a path to transferring learned manipulations to new unlearned manipulations. Using instructional videos as a reference, we selected a list of common manipulation motions seen in cooking activities grouped into similar motions based on several trajectory and contact attributes. Manipulation codes are then developed based on the taxonomy attributes to represent the manipulation motions. The manipulation taxonomy is then used for comparing motion data in the Daily Interactive Manipulation (DIM) data set to reveal their motion similarities.