Teaching for multi-fingered robots based on motion intention in virtual reality

Author

Kawasaki, Haruhisa ; Nakayama, Kanji ; Parker, Graham

Author_Institution

Gifu Univ., Japan

Volume

1

fYear

2000

fDate

2000

Firstpage

428

Abstract

We present teaching for multi-fingered robots based on motion intention in virtual reality. In motion intention analysis, motion is divided into plural primitive motions, those unnecessary for executing the task are deleted, and the remainder are represented by a smooth time function. Segmentation is made using 3D motion measurement of human and virtual objects and virtual reaction generated by the hand of an operator using a force-feedback glove. Analyzed motion is represented by human motion commands. A robot teaching command for the object coordinate frame is generated from a human motion command. Experimental results of a pick-and-place task verify the feasibility of proposed robot teaching

Keywords

dexterous manipulators; graphical user interfaces; robot programming; virtual reality; 3D motion measurement; force-feedback glove; human motion commands; human objects; motion intention; multi-fingered robots; object coordinate frame; pick-and-place task; primitive motions; teaching; virtual objects; virtual reaction; virtual reality; Education; Educational robots; Fingers; Humanoid robots; Humans; Motion analysis; Motion measurement; Robot kinematics; Robot programming; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE

Conference_Location

Nagoya

Print_ISBN

0-7803-6456-2

Type

conf

DOI

10.1109/IECON.2000.973188

Filename

973188