Toward the flexible automation for robot learning from human demonstration using multimodal perception approach

Jing Hao Chen, Guan Yi Lu, Yi Hsing Chien, Hsin Han Chiang, Wei Yen Wang, Chen Chien Hsu

研究成果: 書貢獻/報告類型會議論文篇章

摘要

This study proposes a multi-modal perception approach to make a robotic arm perform flexible automation and further simplify the complicated coding process of controlling a robotic arm. The depth camera is utilized for detect face and hand gesture for recognizing operator identification and commands. In addition, the kinematics of the robotic arm associated with the position of manipulated objects can be derived based on the information through human demonstrations and detected objects. In the experiments, the proposed multi-modal perception system can firstly recognize the operator. Then, the operator can demonstrate a task to generate the learning data with the assistance of using gesture. Afterward, the robotic arm can perform the same task as human demonstration. During the process of imitating task, the robotic arm can also be guided by the gesture command of operator.

原文英語
主出版物標題Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019
發行者Institute of Electrical and Electronics Engineers Inc.
頁面148-153
頁數6
ISBN(電子)9781728105253
DOIs
出版狀態已發佈 - 2019 七月
事件2019 International Conference on System Science and Engineering, ICSSE 2019 - Dong Hoi City, Quang Binh Province, 越南
持續時間: 2019 七月 202019 七月 21

出版系列

名字Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019

會議

會議2019 International Conference on System Science and Engineering, ICSSE 2019
國家/地區越南
城市Dong Hoi City, Quang Binh Province
期間2019/07/202019/07/21

ASJC Scopus subject areas

  • 能源工程與電力技術
  • 安全、風險、可靠性和品質
  • 控制和優化
  • 電腦網路與通信
  • 硬體和架構
  • 資訊系統與管理

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