Details

Autor(en) / Beteiligte

• Yeasin, M.
• Chaudhuri, S.

Titel

Automatic robot programming by visual demonstration of task execution

Ist Teil von

• 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97, 1997, p.913-918

Ort / Verlag

IEEE

Erscheinungsjahr

1997

Quelle

IEEE Electronic Library (IEL)

Beschreibungen/Notizen

• We propose a novel approach to program a robot by demonstrating the task multiple number of times in front of a vision system. The system analyzes the visual data captured during the demonstration of the task by a human operator and produces manipulator level commands, so that the robot can replicate the task. Here we integrate human dexterity with sensory data using computer vision techniques in a single platform. This paper describes a fast and efficient algorithm for the vision system to process a binocular video sequence to obtain the trajectories of each component of the end-effector. The concept of trajectory bundle is introduced to avoid singularity and to obtain an optimal path.