Abstract
Human imitation is suggested as a useful method for humanoid robots achieving daily life tasks. When a person does demonstration such as housework many times, there is a property that the variance of the hand trajectory in object-centric coordinates becomes small at the stage of acting on the object. In this paper, we focused on human demonstration in object-centric coordinates, and proposed a task segmentation method and motion generation of a robot. In fact, we conducted a experiment (by taking a kettle and moving it to a cup) with the life-sized humanoid robot HRP-2.
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Yanokura, I., Murooka, M., Nozawa, S., Okada, K., Inaba, M. (2019). Variance Based Trajectory Segmentation in Object-Centric Coordinates. In: Strand, M., Dillmann, R., Menegatti, E., Ghidoni, S. (eds) Intelligent Autonomous Systems 15. IAS 2018. Advances in Intelligent Systems and Computing, vol 867. Springer, Cham. https://doi.org/10.1007/978-3-030-01370-7_5
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DOI: https://doi.org/10.1007/978-3-030-01370-7_5
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