Vision-Based Learning from Demonstration System for Robot Arms.
Sensors (Basel)
; 22(7)2022 Mar 31.
Article
em En
| MEDLINE
| ID: mdl-35408292
ABSTRACT
Robotic arms have been widely used in various industries and have the advantages of cost savings, high productivity, and efficiency. Although robotic arms are good at increasing efficiency in repetitive tasks, they still need to be re-programmed and optimized when new tasks are to be deployed, resulting in detrimental downtime and high cost. It is therefore the objective of this paper to present a learning from demonstration (LfD) robotic system to provide a more intuitive way for robots to efficiently perform tasks through learning from human demonstration on the basis of two major components understanding through human demonstration and reproduction by robot arm. To understand human demonstration, we propose a vision-based spatial-temporal action detection method to detect human actions that focuses on meticulous hand movement in real time to establish an action base. An object trajectory inductive method is then proposed to obtain a key path for objects manipulated by the human through multiple demonstrations. In robot reproduction, we integrate the sequence of actions in the action base and the key path derived by the object trajectory inductive method for motion planning to reproduce the task demonstrated by the human user. Because of the capability of learning from demonstration, the robot can reproduce the tasks that the human demonstrated with the help of vision sensors in unseen contexts.
Palavras-chave
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Robótica
Limite:
Humans
Idioma:
En
Revista:
Sensors (Basel)
Ano de publicação:
2022
Tipo de documento:
Article
País de afiliação:
Taiwan
País de publicação:
CH
/
SUIZA
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SUÍÇA
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SWITZERLAND