通过动觉教学实现人形机器人的高级操作任务

Proceedings of the 7th International Conference on PErvasive Technologies Related to Assistive Environments Pub Date : 2014-05-27 DOI:10.1145/2674396.2674413

Sven Cremer, Matt Middleton, D. Popa

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引用次数: 3

摘要

本文描述了一种运用动觉教学进行示范编程的软件框架。个人机器人2 (PR2)机器人平台用于演示教学效果，并在倒酒演示中进行双臂操作操作。在教学过程中，操作员指导PR2手臂执行复杂的关节轨迹，从而在关节或笛卡尔空间中处理所需的物体。用户可以使用可扩展标记语言(XML)解析有效地存储和回放编程的动作。我们展示了可重复的倒酒运动结果，这些结果是由PR2在一次公共活动中为数千名客人进行的演示中执行的。

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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Implementation of advanced manipulation tasks on humanoids through kinesthetic teaching

In this paper, we describe a software framework for programming by demonstration (PbD) using kinesthetic teaching. A Personal Robot 2 (PR2) robot platform was used to demonstrate teaching effectiveness and conduct dual arm manipulation operations during a wine pouring demonstration. During the teaching process, an operator directs the PR2 arms to execute complex joint trajectories leading to desired handling of objects in joint or Cartesian space. The user can efficiently store and playback programmed motions using Extensible Markup Language (XML) parsing. We present repeatable wine pouring motion results that were executed by the PR2 during a demo for several thousand guests at a public event.

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Proceedings of the 7th International Conference on PErvasive Technologies Related to Assistive Environments

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