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Symbolic representation of trajectories for skill generation

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5 Author(s)
Tominaga, H. ; Inst. of Ind. Sci., Tokyo Univ., Japan ; Takamatsu, J. ; Ogawara, K. ; Kimura, H.
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The completion of robot programs requires long development time and much effort. To shorten this programming time and minimize the effort, we have been developing a system which we refer to as “assembly-plan-from-observation (APO) system;” this system provides the ability for a robot to observe a human performing an assembly tasks, understand the tasks, and subsequently generate a program to perform that same task. One of the necessary tasks in APO is to create a trajectory of robot hand movement from observing human performance. The previous system developed a direct observation method based on the trajectory of a human movement. Though simple and handy, the system was susceptible to noise. This paper proposes a method to make the observation robust against noise by using symbolic representations of a trajectory based on contact analysis. The system divides the trajectory into small segments based on the contact analysis, then allocates an operation element referred to as a sub-skill to those segments; the result is a robust trajectory-based APO system

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Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

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