Theory and experiment of skill transfer by direct teaching and online learning
Project/Area Number |
21680021
|
Research Category |
Grant-in-Aid for Young Scientists (A)
|
Allocation Type | Single-year Grants |
Research Field |
Perception information processing/Intelligent robotics
|
Research Institution | Ritsumeikan University (2010-2011) Advanced Telecommunications Research Institute International (2009) |
Principal Investigator |
GEN Soukou 立命館大学, 理工学部, 准教授 (30344691)
|
Research Collaborator |
MORIMOTO Atsushi ATR脳情報研究所, 主任研究員 (10505986)
MATSUBARA Takamitsu 奈良先端科学技術大学院大学, 情報技術科学研究科, 助教 (20508056)
|
Project Period (FY) |
2009 – 2011
|
Project Status |
Completed (Fiscal Year 2011)
|
Budget Amount *help |
¥11,570,000 (Direct Cost: ¥8,900,000、Indirect Cost: ¥2,670,000)
Fiscal Year 2011: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
Fiscal Year 2010: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2009: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
|
Keywords | 知能ロボット |
Research Abstract |
We proposed an intuitive and safe skill transfer method from human to robots. This is done by combining robotic controllers with direct motion teaching technique. The task demonstrated by human operators is represented as a manifold so that the similar task is automatically achieved in a small number of trials. The algorithm is validated on a three-joint force-controllable robot.
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Report
(4 results)
Research Products
(32 results)