Preliminary Experiments on Programing of a Humanoid's Motions by Human Demonstration.
Takahide Yoshiike, Atsushi Konno, Koichi Nagashima, Masayuki Inaba, Hirochika Inoue · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 1999
This paper presents preliminary experiments on automatic programing of a humanoid's motions by human demonstration. Aiming to develop the "teaching by human demonstration" system, three preliminary experiments are performed : (a) on-line recognition of human posture, (b) on-line mimicking of human posture, and ( c ) recognition of the pick and place task and generation of the robot's arm trajectories to play it back. The humanoid robot having its head with stereo camera arrangement, two DOF neck and dual seven DOF arms, is used in these experiments. The experimental results prove the potential of an easy and natural teaching by human demonstration.