DocumentCode
426029
Title
Programming by demonstration: dual-arm manipulation tasks for humanoid robots
Author
Zöllner, R. ; Asfour, T. ; Dillmann, R.
Author_Institution
Inst. for Comput. Design & Fault Tolerance, Universitat Karlsruhe, Germany
Volume
1
fYear
2004
fDate
28 Sept.-2 Oct. 2004
Firstpage
479
Abstract
This paper deals with easy programming methods of dual-arm manipulation tasks for humanoid robots. Hereby a programming by demonstration system is used in order to observe, learn and generalize tasks performed by humans. A classification for dual-arm manipulations is introduced, enabling a segmentation of tasks into adequate subtasks. Further it is shown how the generated programs are mapped on and executed by a humanoid robot.
Keywords
automatic programming; humanoid robots; manipulators; dual-arm manipulation tasks; humanoid robots; programming by demonstration system; programming methods; Data mining; Fault tolerance; Hospitals; Humanoid robots; Humans; Layout; Robot kinematics; Robot programming; Senior citizens; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8463-6
Type
conf
DOI
10.1109/IROS.2004.1389398
Filename
1389398
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