Generalizing Demonstrated Manipulation Tasks
Generalizing Demonstrated Manipulation Tasks
复制标题
概括演示的操作任务
DOI：
10.1007/978-3-540-45058-0_31
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
J. Hodgins
中科院分区：
文献类型：
--
作者：
N. Pollard;J. Hodgins
捕获的人体运动数据可以为成功的操作策略提供丰富的示例。然而，目前还没有将这些例子应用于机器人的通用技术，部分原因是机器人要解决的问题很少与人类演示中的问题相同。本文考虑了使准静态操作任务的人类演示适应新对象和摩擦条件的问题(图1)。我们认为，如果操纵计划涉及相同数量的触点，并且所应用的接触扳手遵循类似的轨迹，则操纵计划类似于演示。基于这种相似性的概念，我们提出了一种算法，该算法使用人类演示来将解空间约束为一组类似于演示的操作计划。我们的算法保证了最大的任务量和接触位置的灵活性。翻滚大而重的物体的结果表明，可以为各种大小、形状和摩擦系数的物体合成类似于演示的操纵方案。在仿人机器人上的实验结果表明，该方法除了产生有效的操作方案外，还产生了看起来自然的运动。
Captured human motion data can provide a rich source of examples of successful manipulation strategies. General techniques for adapting these examples for use in robotics are not yet available, however, in part because the problem to be solved by the robot will rarely be the same as that in the human demonstration. This paper considers the problem of adapting a human demonstration of a quasistatic manipulation task to new objects and friction conditions (Figure 1). We argue that a manipulation plan is similar to a demonstration if it involves the identical number of contacts and if the applied contact wrenches follow similar trajectories. Based on this notion of similarity, we present an algorithm that uses the human demonstration to constrain the solution space to a set of manipulation plans similar to the demonstration. Our algorithm provides guarantees on maximum task forces and flexibility in contact placement. Results for the task of tumbling large, heavy objects show that manipulation plans similar to a demonstration can be synthesized for a variety of object sizes, shapes, and coefficients of friction. Experimental results with a humanoid robot show that the approach produces natural-looking motion in addition to effective manipulation plans.