Creating an assembly-task model by human demonstration

Modeling contact-state transitions in six degrees of freedom (d.o.f.) in an assembly task is very troublesome. To deal with this problem we propose a method of creating an assembly-task model by human demonstration. Our assembly-task model consists of an operational coordinate system and local contact-state transition models in the coordinate system. Our method consists of three parts: segmenting demonstration data based on contact types; selecting an operational coordinate system using principal component analysis; and allocating 3-d.o.f. local contact-state transition models to vertex pairs, where contact-state transitions occurred in the selected operational coordinate systems. The analysis result of human demonstration and task executions by a robot using the created model are discussed to verify the usefulness of our method.