Virtual robot teaching in the assembly work environment for multi-fingered robots

A virtual robot teaching system, consisting of human demonstration and motion-intention analysis in a virtual reality environment, is an advanced form of automatic programming for multi-fingered robots. We propose a new segmentation method to analyze human motion data. In this method, the human motion data consisting of contact points, grasped force, hand and object position, and the like are segmented into plural primitive motions and the type of task is analyzed based on the sequence of the primitive motions. A trial assembly task using a humanoid robot hand named Gifu Hand III is shown.