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| Volume 26 Issue 7 - Publication Date: 1 July 2007 |
| Recognizing Assembly Tasks Through Human Demonstration |
| J. Takamatsu, K. Ogawara Institute of Industrial Science the University of Tokyo, Japan, H. Kimura Graduate School of Information Systems the University of Electro-Communications Tokyo, Japan, and K. Ikeuchi Graduate School of Interdisciplinary Information Studies the University of Tokyo, Japan |
| As one of the methods for reducing the work of programming, the Learning-from-Observation (LFO) paradigm has been heavily promoted. This paradigm requires the programmer only to perform a task in front of a robot and does not require expertise. In this paper, the LFO paradigm is applied to assembly tasks by two rigid polyhedral objects. A method is proposed for recognizing these tasks as a sequence of movement primitives from noise-contaminated data obtained by a conventional 6 degree-of-freedom (DOF) object-tracking system. The system is implemented on a robot with a real-time stereo vision system and dual arms with dexterous hands, and its effectiveness is demonstrated. |
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