An approach of manipulator control for service-robot FISR-1 based on motion imitating

According to other expertspsila researches, it is necessary for the motion of service-robot manipulator should either be anticipated or be familiar to people. In order to realize this prospect, we propose that service-robot should imitate the motion of manipulator taught by people. In this paper we use the prototype of dual arm mobile service-robot FISR-1 (family intelligent service robot-1) to study the approach of manipulator control for motion imitating. The motion FISR-1 should imitate is using its right arm to touch a block on a table. In order to make FISR-1 touch a new positioned block with an imitative motion, the approaches suggested by other researches before are not appropriate. So a new approach is proposed based on these approaches. The robot extracts joints value for sample motion with Hidden Markov Model (HMM) from original demonstrative motion first, and then the robot creates a new motion based on the sample motion according to keep the trajectory of each joint similar. Simulations are presented to illustrate the validity of this approach.