NDLI: Teaching by demonstration in virtual reality-specification of preparation motion based on a virtual small face and an artificial constrained motion primitives

Content Provider	IEEE Xplore Digital Library
Author	Onda, H.
Copyright Year	1999
Description	Author affiliation: AIST, Electrotech. Lab., Ibaraki, Japan (Onda, H.)
Abstract	"Teaching by Demonstration" is a method to generate a robot program that makes a robot do the same task as the task which a human operator demonstrates. The author developed a "teaching by demonstration in VR " system which automatically generates a robot program to work in the real world after a task is demonstrated by an operator in the virtual world. This system deals with a task of controlling contact states between bodies like assembly task. The system generates a program which detects each contact state extracted from demonstration and realizes it by skilful motion primitives (SMP), and achieves the task. But when one body is not in contact with another, not only contact states but also other new states which can specify more general arrangement of the bodies are necessary in order to make the robot more skilful. Particularly, (1) specification of the arrangements of the bodies in a free space and (2) specification of the arrangements which should be achieved by preparation motion for a SMP, are important. In this paper, a virtual small face (VSF) and an artificial constrained motion primitive (ACMP) are introduced in order to specify these things and teach them to a robot by demonstration.
Starting Page	1095
Ending Page	1100
File Size	561943
Page Count	6
File Format	PDF
ISBN	0780357310
ISSN	1062922X
DOI	10.1109/ICSMC.1999.823381
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-10-12
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Education Robotics and automation Orbital robotics Humans Virtual reality Automatic control Control systems Assembly systems Robotic assembly Motion detection
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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