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Programming by demonstration: dual-arm manipulation tasks for humanoid robots

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3 Author(s)
Zollner, R. ; Inst. for Comput. Design & Fault Tolerance, Universitat Karlsruhe, Germany ; Asfour, T. ; Dillmann, R.

This paper deals with easy programming methods of dual-arm manipulation tasks for humanoid robots. Hereby a programming by demonstration system is used in order to observe, learn and generalize tasks performed by humans. A classification for dual-arm manipulations is introduced, enabling a segmentation of tasks into adequate subtasks. Further it is shown how the generated programs are mapped on and executed by a humanoid robot.

Published in:

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference:

28 Sept.-2 Oct. 2004