Research on development of task primitives for robots using programming by demonstration in virtual reality

近年来，机器人技术的研究已经应用到各个领域。各种运动和任务由包括类人机器人的各种机器人实现。机器人程序与普通程序不同，因为它们中的一些（即，用于任务的程序）被制作以实现用于真实的世界中的任务的目标状态。这些任务程序提出了一个不同的“可重用性问题”，等效执行的任务。这些机器人的程序是由人类程序员开发的，这些程序员是利用他们的经验和知识通过试错开发的。当其他人将这样的程序应用于不同的机器人和不同的环境时，可能会造成困难。由于这样的程序有一个未知的部分，除了它的程序员，以便重用和调整程序，其他人很难修改程序。该问题不仅涉及对程序进行适当注释的困难，而且还涉及将使用特定环境中的特定机器人主体的知识的程序移植到其他特定环境中的其他机器人主体的其他程序的根本困难。为了处理这个问题，重要的是划分依赖于特定机器人的身体和特定环境的程序的一部分，提取可以作为参数调整的程序的一部分，并确定其调整的客观方法。同样重要的是，可视化这些程序的适用性，以说明程序员的程序的适用性的限制。在这项研究中，我们开发了一个模拟器的状态转换的任务，使用伪接触点的方法，这是用于检测接触状态转换在精细运动，和一个例子，确定一个参数的程序（原语）的状态转换检测系统使用随机搜索技术。

Robotics research has been applied to various fields recently. Various motions and tasks are realized with various robots including humanoids. Robot programs are different from ordinary programs because some of them(i.e., programs for tasks) are made to achieve goal states for the tasks in the real world. These task programs pose a different "reusability problem" for equivalent execution of a task. The programs for those robots are developed by human programmers, which are developed by trial and error using their experience and knowledge. When other people apply such a program to a different robot and a different environment, it may cause difficulty. Since such a program has an unknown part for others than its programmer in order to reuse and adjust the program, it is difficult for others to modify the program. This problem is concerned with not only the difficulty of commentating appropriately for the program but also the essential difficulty of porting the program using knowledge of a specific robot body in a specific environment to other programs for other robot bodies in other specific environments. In order to deal with this problem, it is important to divide a part of programs that depends on the bodies of the specific robots and the specific environments, extract the part of programs that can be adjusted as parameters, and to determine objective methods of their adjustment. It is also important to visualize applicability of such programs in order to illustrate limits of the applicability of the programs for programmers. In this research, we develop a simulator of state transitions in a task using the pseudo contact point method, which is used for detection of contact states transitions in fine motion, and an example of determining a parameter of a program(primitive) for state transition detection systematically using random search technique.