Development of a Mimic Robot: Learning from Human Demonstration to Manipulate a Coffee Maker as an Example

Pin Jui Hwang, Chen Chien Hsu, Wei Yen Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

With the trends of DIY movements and the maker economy, great needs for the applications of low volume automation (LVA) are predictable. To do so, a learning from demonstration (LfD) problem is addressed in this paper, where robots are taught through demonstrated actions to manipulate a coffee maker. The system is developed using YOLO deep learning architecture to recognize objects such as cups, coffee capsules. Employing a Kinect RGB-D camera, the robot is capable of obtaining the coordinates of the objects and the corresponding moving trajectories. Integrating the above two techniques, the robot is able to recognize the demonstrated actions to establish an action database comprising several sub-actions such as moving a cup, pouring coffee, trigger the coffee machine, etc. Finally, the manipulation of the robot is made by following the order of demonstrated actions. As a result, a vision-based LfD system is established, allowing the robot to learn from human demonstrations and act accordingly.

Original languageEnglish
Title of host publication2019 IEEE 23rd International Symposium on Consumer Technologies, ISCT 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages124-127
Number of pages4
ISBN (Electronic)9781728135700
DOIs
Publication statusPublished - 2019 Jun
Event23rd IEEE International Symposium on Consumer Technologies, ISCT 2019 - Ancona, Italy
Duration: 2019 Jun 192019 Jun 21

Publication series

Name2019 IEEE 23rd International Symposium on Consumer Technologies, ISCT 2019

Conference

Conference23rd IEEE International Symposium on Consumer Technologies, ISCT 2019
CountryItaly
CityAncona
Period19/6/1919/6/21

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Keywords

  • Deep Learning
  • Learning from Demonstration
  • Mimic Robot
  • Yolo

ASJC Scopus subject areas

  • Instrumentation
  • Biomedical Engineering
  • Electrical and Electronic Engineering
  • Media Technology

Cite this

Hwang, P. J., Hsu, C. C., & Wang, W. Y. (2019). Development of a Mimic Robot: Learning from Human Demonstration to Manipulate a Coffee Maker as an Example. In 2019 IEEE 23rd International Symposium on Consumer Technologies, ISCT 2019 (pp. 124-127). [8901025] (2019 IEEE 23rd International Symposium on Consumer Technologies, ISCT 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISCE.2019.8901025