Preliminary Experiments in Motion Programming of Humanoid Robot by Human Demonstrations
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概要
- 論文の詳細を見る
This paper presents preliminary experiments on automatic programming of motions of a humanoid robot by human demonstrations. Aiming to develop the "teaching by human demonstrations" system, three preliminary experiments are performed: (a) oN-line recognition of human postures, (b) on-line imitation of human postures, and (c) recognition of the pick and place task and generation of a motion of a robot arm to play it back. The humanoid robot having its head with stereo camera arrangement, a 2-DOF neck and dual 7-DOF arms, is used in these experiments. The experimental results prove the potential of an easy and natural teaching by human demonstrations.
- 一般社団法人日本機械学会の論文
- 2000-06-15
著者
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Nagashima Koichi
Department Of Mechano-informatics University Of Tokyo
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Konno Atsushi
Department Of Aeronautics And Space Engineering Tohoku University
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YOSHIIKE Takahide
Wako Research Center, Honda R & D Co. Ltd.
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INABA Masayuki
Department of Mechano-Informatics, University of Tokyo
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lNOUE Hirochika
Department of Aeronautics and Space Engineering, Tohoku University
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Lnoue Hirochika
Department Of Aeronautics And Space Engineering Tohoku University
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Yoshiike Takahide
Wako Research Center Honda R & D Co. Ltd.
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Inaba Masayuki
Department Of Mechano-informatics University Of Tokyo
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