人間の実演から幾何学的制約を推定する手法
Inferring geometric constraints in human demonstrations
人間の実演データから運動学的・力覚情報を用いて固定点や回転・並進・平面運動などの幾何学的制約を同時に推定する手法を提案し、計測可能なトングを用いた実験で有効性を示した。
著者: Guru Subramani, Michael Zinn, Michael Gleicher
分類: cs.RO
原文アブストラクト
This paper presents an approach for inferring geometric constraints in human demonstrations. In our method, geometric constraint models are built to create representations of kinematic constraints such as fixed point, axial rotation, prismatic motion, planar motion and others across multiple degrees of freedom. Our method infers geometric constraints using both kinematic and force/torque information. The approach first fits all the constraint models using kinematic information and evaluates them individually using position, force and moment criteria. Our approach does not require information about the constraint type or contact geometry; it can determine both simultaneously. We present experimental evaluations using instrumented tongs that show how constraints can be robustly inferred in recordings of human demonstrations.
