Robot Motion Generation by Hand Demonstration

Learning Hand Movement by Markerless Demonstration for Humanoid Robot Task

In this paper, we investigate the problem of generating trajectories from demonstration and instructing the robot to perform similar tasks under new situations. We present an approach that enables robots to extract movement trajectories from Kinect data capture, automatically segment movement into action units, learn the task-specific models and grasp target object under new situations. The mod...

Robot Learning by Demonstration

In this report, two systems have been developed for robot behavior acquisition using kinesthetic demonstrations. The first enables a humanoid robot to imitate constrained reaching gestures directed towards a target using a learning algorithm based on Gaussian Mixture Regression. The imitation trajectory can be reshaped in order to satisfy the constraints of the task and it can adapt to changes ...

DLR-Hand II Next Generation of a Dextrous Robot Hand

| this paper outlines the 2nd generation of multisensory hand design at DLR. The results of the use of DLR's Hand I were analyzed and enabled in addition to the big e orts made in grasping technology to design the next generation of dextrous robot hands. An open skeleton structure for better maintenance with semi shell housings and the new automatically recon gurable palm have been equipped wit...

Robot Progra 59 . Robot Programming by Demonstration

Workspace Boundary Avoidance in Robot Teaching by Demonstration Using Fuzzy Impedance Control

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...