2020
DOI: 10.3390/s20195505
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A Task-Learning Strategy for Robotic Assembly Tasks from Human Demonstrations

Abstract: In manufacturing, traditional task pre-programming methods limit the efficiency of human–robot skill transfer. This paper proposes a novel task-learning strategy, enabling robots to learn skills from human demonstrations flexibly and generalize skills under new task situations. Specifically, we establish a markerless vision capture system to acquire continuous human hand movements and develop a threshold-based heuristic segmentation algorithm to segment the complete movements into different movement primitives… Show more

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Cited by 16 publications
(10 citation statements)
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“…The advantages of PbD over the traditional programming can be listed as follows [1] [2] [3] [4] [5]:…”
Section: Introductionmentioning
confidence: 99%
See 4 more Smart Citations
“…The advantages of PbD over the traditional programming can be listed as follows [1] [2] [3] [4] [5]:…”
Section: Introductionmentioning
confidence: 99%
“…The first issue is the development and implementation of overarching frameworks that address the learning of the whole assembly process from start to finish [4] [6]. Such frameworks often rely on vision-based systems to decompose a demonstrated assembly operation into a sequence of smaller tasks.…”
Section: Introductionmentioning
confidence: 99%
See 3 more Smart Citations