Skill acquisition and transfer system as approach to the intelligent assisting system-IAS

Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI:10.1109/CCA.1993.348249

M. Buss, H. Hashimoto

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引用次数: 9

Abstract

In this paper we propose a new forthcoming research topic, the Intelligent Assisting System-IAS. Using this system we are approaching identification and analysis of human manipulation skill to be used for intelligent human operator assistance. A manipulation skill database enables the IAS to perform complex manipulations on the motion control level. Through repeated interaction with the operator for unknown environment states, manipulation skill in the database can be increased online. A model for manipulation skill based on the grip transformation matrix is proposed, which describes the transformation between the object trajectory and contact conditions. We describe the experimental system setup of a skill acquisition and transfer system as a first approach to the IAS and some results confirming the calibration method of the developed sensor glove using an artificial neural network. A simple manipulation example shows the feasibility of the proposed manipulation skill model. Further this paper derives a control algorithm realizing object task trajectories and its efficiency is shown by simulation.<>

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技能获取和转移系统作为智能辅助系统ias的途径

本文提出了一个新的研究课题——智能辅助系统。利用该系统对人工操作技能进行识别和分析，为人工操作人员提供智能辅助。操作技能数据库使IAS能够在运动控制级别上执行复杂的操作。通过对未知环境状态与操作者的反复交互，可以在线提高数据库的操作技能。提出了一种基于握持变换矩阵的操作技能模型，该模型描述了物体轨迹与接触条件之间的变换。我们描述了一个技能获取和转移系统的实验系统设置，作为IAS的第一种方法，一些结果证实了使用人工神经网络开发的传感器手套的校准方法。一个简单的操作实例表明了所提出的操作技能模型的可行性。进一步推导了一种实现目标任务轨迹的控制算法，并通过仿真验证了该算法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of IEEE International Conference on Control and Applications

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