Record Details

Automatic robot programming by visual demonstration of task execution

DSpace at IIT Bombay

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Field Value
 
Title Automatic robot programming by visual demonstration of task execution
 
Creator YEASIN, M
CHAUDHURI, S
 
Subject automatic robot programming
trajectory bundle
feature tracking
optimal path
singularities
 
Description We propose a novel approach to program a robot by demonstrating the task multiple number of times in front of a vision system. The system analyzes the visual data captured during the demonstration of the task by a human operator and produces manipulator level commands, so that the robot can replicate the task. Here we integrate human dexterity with sensory data using computer vision techniques in a single platform. This paper describes a fast and efficient algorithm for the vision system to process a binocular video sequence to obtain the trajectories of each component of the end-effector. The concept of trajectory bundle is introduced to avoid singularities and to obtain an optimal path.
 
Publisher I E E E
 
Date 2011-10-27T11:30:40Z
2011-12-15T09:12:35Z
2011-10-27T11:30:40Z
2011-12-15T09:12:35Z
1997
 
Type Proceedings Paper
 
Identifier 8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97,913-918
0-7803-4160-0
http://dspace.library.iitb.ac.in/xmlui/handle/10054/16283
http://hdl.handle.net/100/2761
 
Source 8th International Conference on Advanced Robotics (ICAR 97),MONTEREY, CA,JUL 07-09, 1997
 
Language English