Graphical instruction for a garment folding robot

Yuta Sugiura, Takeo Igarashi, Hiroki Takahashi, Tabare Akim Gowon, Charith Lasantha Fernando, Maki Sugimoto, Masahiko Inami

研究成果: Conference contribution

10 被引用数 (Scopus)

抄録

This project proposes to use interactive graphical editing interface for an end user to give instructions to intelligent robots to complete a real world object manipulation task. Natural language is often considered as an ideal communication method for robots, but it not intuitive at specifying tasks that require visual (geometry) information. Learning from demonstration can be useful, but it is not easy to generalize a provided example into a working program. Our approach is to provide a specialized graphical editor that abstracts the target task and to have the user specify how to complete the task by performing simple editing operations (clicking and dragging). We show the effectiveness of our approach by building and testing an example application based on this concept, which is a graphical editor for teaching garment folding to a robot. This example shows that our approach is particularly effective for an end user to configure the robot behavior to satisfy their own needs, which cannot be covered by a single, pre-programmed solution for general audience.

本文言語English
ホスト出版物のタイトルACM SIGGRAPH 2009 Emerging Technologies, SIGGRAPH '09
出版社Association for Computing Machinery (ACM)
ISBN(印刷版)9781605588339
DOI
出版ステータスPublished - 2009
イベントACM SIGGRAPH 2009 Emerging Technologies, SIGGRAPH '09 - New Orleans, LA, United States
継続期間: 2009 8月 32009 8月 7

出版物シリーズ

名前ACM SIGGRAPH 2009 Emerging Technologies, SIGGRAPH '09

Other

OtherACM SIGGRAPH 2009 Emerging Technologies, SIGGRAPH '09
国/地域United States
CityNew Orleans, LA
Period09/8/309/8/7

ASJC Scopus subject areas

  • 計算理論と計算数学
  • コンピュータ グラフィックスおよびコンピュータ支援設計
  • ソフトウェア

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