TY - GEN
T1 - Human demonstration data for fast task teaching
AU - Okodi, Samuel
AU - Jiang, Xin
AU - Konno, Atsushi
AU - Uchiyama, Masaru
PY - 2008/12/1
Y1 - 2008/12/1
N2 - Robot operation requires a succinct interface with fewer parameters to specify. This paper presents an algorithm to interface an integrated torque control law, and human task demonstration data. The data is comprised of 6 degrees of freedom, pendant force and position data, and hand posture tracking data. The aim is to automatically specify all the required parameters for the control law, which include constrained and non-constrained trajectories, reference task frames and distal end compliance. The algorithm is embedded with functions to optimise, filter, synchronise and enhance safety.
AB - Robot operation requires a succinct interface with fewer parameters to specify. This paper presents an algorithm to interface an integrated torque control law, and human task demonstration data. The data is comprised of 6 degrees of freedom, pendant force and position data, and hand posture tracking data. The aim is to automatically specify all the required parameters for the control law, which include constrained and non-constrained trajectories, reference task frames and distal end compliance. The algorithm is embedded with functions to optimise, filter, synchronise and enhance safety.
UR - http://www.scopus.com/inward/record.url?scp=69549084675&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69549084675&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4651132
DO - 10.1109/IROS.2008.4651132
M3 - Conference contribution
AN - SCOPUS:69549084675
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 961
EP - 966
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -