Trajectory reconstruction for robot programming by demonstration

The reproduction of hand movements by a robot remains difficult and conventional learning methods do not allow us to faithfully recreate these movements because it is very difficult when the number of crossing points is very large. Programming by Demonstration gives a better opportunity for solving this problem by tracking the user’s movements with a motion capture system and creating a robotic program to reproduce the performed tasks. This paper presents a Programming by Demonstration system in a trajectory level for the reproduction of hand/tool movement by a manipulator robot; this was realized by tracking the user’s movement with the ArToolkit and reconstructing the trajectories by using the constrained cubic spline. The results obtained with the constrained cubic spline were compared with cubic spline interpolation. Finally the obtained trajectories have been simulated in a virtual environment on the Puma 600 robot.

[1]  Pier Paolo Valentini,et al.  Natural interface for interactive virtual assembly in augmented reality using Leap Motion Controller , 2018 .

[2]  Richard Bearee,et al.  Leap Motion pour la capture de mouvement 3D par spline L1 , 2013 .

[3]  Chun Chen,et al.  Whole-body humanoid robot imitation with pose similarity evaluation , 2015, Signal Process..

[4]  John E. Lavery.  Shape-preserving, first-derivative-based parametric and nonparametric cubic L1 spline curves , 2006, Comput. Aided Geom. Des..

[5]  Geoffrey Biggs,et al.  A Survey of Robot Programming Systems , 2010 .

[6]  Masayuki Inaba,et al.  Learning by watching: extracting reusable task knowledge from visual observation of human performance , 1994, IEEE Trans. Robotics Autom..

[7]  Dawar Khan,et al.  Factors affecting the design and tracking of ARToolKit markers , 2015, Comput. Stand. Interfaces.

[8]  Stefano Caselli,et al.  Leveraging on a virtual environment for robot programming by demonstration , 2004, Robotics Auton. Syst..

[9]  Ouamri Bachir,et al.  Adaptive Neuro-fuzzy Inference System Based Control of Puma 600 Robot Manipulator , 2011 .

[10]  Stefano Caselli,et al.  Robust trajectory learning and approximation for robot programming by demonstration , 2006, Robotics Auton. Syst..

[11]  Aude Billard,et al.  Stochastic gesture production and recognition model for a humanoid robot , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[12]  Ioannis Brilakis,et al.  Real-time simulation of construction workers using combined human body and hand tracking for robotic construction worker system , 2018 .

[13]  Aude Billard,et al.  A probabilistic Programming by Demonstration framework handling constraints in joint space and task space , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Huosheng Hu,et al.  Robot Imitation from Human Body Movements , 2005 .

[15]  Huosheng Hu,et al.  Robot imitation: Body schema and body percept , 2005 .

[16]  John E. Lavery.  Univariate cubic Lp splines and shape-preserving, multiscale interpolation by univariate cubic L1 splines , 2000, Comput. Aided Geom. Des..

[17]  R. Asnawi,et al.  Control of a Movable Robot Head Using Vision-Based Object Tracking , 2019 .

[18]  Sehat Ullah,et al.  Extending the Tracking Distance of Fiducial Markers for Large Indoor Augmented Reality Applications , 2015 .

[19]  Karmele López de Ipiña,et al.  Skill based robot programming: Assembly, vision and Workspace Monitoring skill interaction , 2017, Neurocomputing.

[20]  J. Kokes,et al.  Using constrained cubic spline instead of natural cubic spline to eliminate overshoot and undershoot in Hilbert Huang Transform , 2012, Proceedings of the 13th International Carpathian Control Conference (ICCC).

[21]  Qiang Huang,et al.  Design and implementation of an omnidirectional vision system for robot perception , 2017 .

[22]  Bachir Ouamri.  Computed Torque Control of a Puma 600 Robot by Using Fuzzy Logic , 2015 .

[23]  Woo-Keun Yoon,et al.  Experimental Validation of Task Skill Transfer Approach Using a Humanoid Robot , 2007, 2007 IEEE International Symposium on Assembly and Manufacturing.