A Trajectory Modification Method for Tool Operation Based on Human Demonstration Using MITATE Technique
A Trajectory Modification Method for Tool Operation Based on Human Demonstration Using MITATE Technique
复制标题
一种基于MITATE技术的人体演示工具操作轨迹修正方法
DOI：
10.1109/robio.2018.8664748
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Kimitoshi Yamazaki
中科院分区：
文献类型：
--
作者：
Satonori Demura;Yaqiang Mo;Kotaro Nagahama;Kimitoshi Yamazaki
我们提出了一种新的方法，让日常辅助机器人从没有技术知识的用户那里学习新的任务。“模仿”是人类使用不同工具和环境交流工具动作的能力，它为这个系统提供了灵感。该系统自动估计从用户的任务空间到机器人的任务空间的映射，通过使用与机器人不同的工具和环境来显示目标运动，从而实现任务的在线示教。我们用日常任务对该方法进行了测试，实验结果证明了该方法的有效性。
We propose a novel method for a daily assistive robot to learn a new task from its user who does not have technical knowledge. “MITATE;’ which is a human capacity to communicate a motion of a tool using a different tool and environment, provided inspiration to this system. The proposed system automatically estimates the mapping from the task space of the user's to the robot's. This enables the online teaching of a task by showing the target motion with a different tool and a different environment from the robot. We evaluated the proposed method with daily tasks experimentally, and the results proved that the proposed method is effective.