Skill Representation and Acquisition of Compliant

نویسندگان

  • Ralf Koeppe
  • Achim Breidenbach
  • Gerd Hirzinger
چکیده

Osaka, Japan, November 4-8, 1996 Skill Representation and Acquisition of Compliant Motions Using a Teach Device Ralf Koeppe Achim Breidenbach Gerd Hirzinger Deutsche Forschungsanstalt f ur Luftund Raumfahrt (DLR) Institute of Robotics and System Dynamics Postfach 1116, 82230 Wessling, Germany e-mail: Ralf.Koeppe@dlr.de Abstract We are proposing a supervised learning approach in robot force control which enables robot programming by human demonstration. To demonstrate the task in a intuitive way, we designed a teach device which acquires the sensorimotion of the human. The design and use of the teaching device for skill acquisition is discussed. Recording of compliant motion of the human is shown for the \Put Block in a Corner of a Box Problem" and the \Peg in Hole Problem". Skill representation is demonstrated for the rst of the two problems. Finally we are describing other useful applications of the teach device in the eld of world modeling and robotics.

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تاریخ انتشار 1996