Assembly motion teaching system using position/force simulator-generating control program

Onda, Hiromu; Hirokawa, H.; Tomita, Fumihiro; Suehiro, Takashi; Takase, Kunikatsu

doi:10.1109/iros.1997.655122

Cited by 29 publications

(7 citation statements)

References 10 publications

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“…Often, the analysis of a demonstration takes place observing the changes in the scene. These changes can be described using relational expressions or contact relations [9,14].…”

Section: State Of the Artmentioning

confidence: 99%

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Teaching and learning of robot tasks via observation of human performance

Dillmann

2004

Robotics and Autonomous Systems

269

115

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“…Often, the analysis of a demonstration takes place observing the changes in the scene. These changes can be described using relational expressions or contact relations [9,14].…”

Section: State Of the Artmentioning

confidence: 99%

“…Furthermore, inaccuracies of sensor-based approaches do not have to be taken into account. This way, in existing approaches object poses or trajectories [19,20] and/or object contexts [14,17] are generalized in an appropriate way. A physical demonstration however is more convenient for the human operator.…”

Section: State Of the Artmentioning

confidence: 99%

Teaching and learning of robot tasks via observation of human performance

Dillmann

2004

Robotics and Autonomous Systems

269

115

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“…Paul and Ikeuchi use thresholds to make assumptions about contact points, and then compute the motion path in C-space [9], [10]. Second, in simulation-based systems, Onda et al use a simulated environment to learn assembly strategies by extracting a sequence of contact states (i.e., contact formations) [11]. Lloyd et al propose a simulated demonstration environment that incorporates contact dynamics [12].…”

Section: Introductionmentioning

confidence: 99%

Teaching the robot by guidance using an exoskeleton device in assembly lines

Jeong

Jin

Kwon

et al. 2013

Proceedings of the 7th International Conference on Ubiquitous Information Management and Communication

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Robots used in industry rely on complex and time-consuming programming, such as a teaching panel and offline programming. Different intuitive programming methods have been proposed to overcome this drawback. A method using a force/torque sensor is practical and has been used in several organizations. However, problems, such as precision, have to be overcome in this method. This paper presents a method using an exoskeleton device that can overcome the problems based on robot teaching. Its usefulness is demonstrated compared to a method using a force/torque sensor.

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“…We have developed a "teaching-by-demonstration-in-VR system that automatically generates a robot program to work in the real world after the task is demonstrated by an operator in the virtual world [1] [2] [3]. This system deals with the task of controlling contact states between bodies as in an assembly task.…”

Section: Introductionmentioning

confidence: 99%

“…The teaching process of our system is as follows: While an operator performs the assembly motions of an object in the model world, a sequence of contact states is automatically extracted from the motion in the model world [I]. The system generates robot programs by using the sequence of contact state transitions, and achieves the assembly motion in the real world [2]. A sequence of contact states extracted by this system enables the task execution subsystem to make it feasible to achieve an error-tolerant automated assembly motion in the real world.…”

Section: Introductionmentioning

confidence: 99%

Teaching by demonstration of assembly motion in VR-detection of nondeterministic search-type motion and developing of its skillful motion primitive

Onda

Suehiro

Kitagaki

IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02

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Teaching by Demonstration" is 0 method ofgenerating a robot program that makes a robot do the same task as the task that a human operator demonstrates. We have developed a "teaching by demonstration in VR"system that automatically generates a robot program to work in the real world afrer a task is demonstroted by an operator in the virtual world. This system generates aprogram that detects each contact state extractedfrom demonstration in VR and produces it by skillful motionprimitives.In thispaper, based on our observation that a human has the skill wherein contact slate transitions ape made ~~~-d e t =~m i~i~t i c a l l y , we propose o method of dealing with one of the important non-deterministic motions, "nondeterministic search lype motion. '' Experimental results show the feasibiliry ofthe method.

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Assembly motion teaching system using position/force simulator-generating control program

Cited by 29 publications

References 10 publications

Teaching and learning of robot tasks via observation of human performance

Teaching and learning of robot tasks via observation of human performance

Teaching the robot by guidance using an exoskeleton device in assembly lines

Teaching by demonstration of assembly motion in VR-detection of nondeterministic search-type motion and developing of its skillful motion primitive

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