Teaching of grasp/graspless manipulation for industrial robots by human demonstration

Yusuke Maeda, Nanako Ishido, Haruka Kikuchi, Tamio Arai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Citations (Scopus)

Abstract

In this paper, we propose a simple teaching method for industrial robots by human demonstration. The method can be divided into two parts: the teaching phase and the planning phase. In the teaching phase, a human operator demonstrates a manipulation of an object, and two cameras recognize the path of the object by observing markers attached on the object. In the planning phase, a motion planner generates a sequence of robot operations to play back the demonstrated path by pick-and-place and pushing. The proposed method incorporates automated camera calibration required for human demonstration, which enables labor-saving teaching and compensates the absolute positional error of industrial robots. In the experiments, each of demonstrated manipulations was reproduced successfully as a combination of pick-and-place and pushing by one or two robot manipulators.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1523-1528
Number of pages6
Volume2
Publication statusPublished - 2002
Externally publishedYes
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: 2002 Sep 302002 Oct 4

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period02/9/3002/10/4

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Maeda, Y., Ishido, N., Kikuchi, H., & Arai, T. (2002). Teaching of grasp/graspless manipulation for industrial robots by human demonstration. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2, pp. 1523-1528)