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

研究成果: 書貢獻/報告類型會議論文篇章

3 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題2019 IEEE 23rd International Symposium on Consumer Technologies, ISCT 2019
發行者Institute of Electrical and Electronics Engineers Inc.
頁面124-127
頁數4
ISBN(電子)9781728135700
DOIs
出版狀態已發佈 - 2019 六月
事件23rd IEEE International Symposium on Consumer Technologies, ISCT 2019 - Ancona, 意大利
持續時間: 2019 六月 192019 六月 21

出版系列

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

會議

會議23rd IEEE International Symposium on Consumer Technologies, ISCT 2019
國家/地區意大利
城市Ancona
期間2019/06/192019/06/21

ASJC Scopus subject areas

  • 儀器
  • 生物醫學工程
  • 電氣與電子工程
  • 媒體技術

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