Experimental Validation of Task Skill Transfer Approach Using a Humanoid Robot

This paper demonstrates the validity of a task skill transfer approach using a humanoid robot. The task skill transfer approach is a methodology for transferring human skills to robot programs in an abstracted level to achieve various practical tasks in real environments regardless of robot hardware difference. First, the outline of the approach is presented. Second, how to acquire task skills is described. Finally, a task skill, which has been created with an industrial manipulator, is implemented to a humanoid robot to experimentally validate the reusability of the skill across the robot platforms.