見まね学習フレームワーク：家庭内の把持・操作・解放作業を一回の教示でロボットに学習させる
A Learning-from-Observation Framework: One-Shot Robot Teaching for Grasp-Manipulation-Release Household Operations
人間の実演を一度見せるだけで、家庭内の把持・操作・解放作業をロボットが学習できるLfOフレームワークを提案し、実機で有効性を検証した。
著者: Naoki Wake, Riku Arakawa, Iori Yanokura, Takuya Kiyokawa, Kazuhiro Sasabuchi, Jun Takamatsu, Katsushi Ikeuchi
分類: cs.RO, cs.HC
原文アブストラクト
A household robot is expected to perform various manipulative operations with an understanding of the purpose of the task. To this end, a desirable robotic application should provide an on-site robot teaching framework for non-experts. Here we propose a Learning-from-Observation (LfO) framework for grasp-manipulation-release class household operations (GMR-operations). The framework maps human demonstrations to predefined task models through one-shot teaching. Each task model contains both high-level knowledge regarding the geometric constraints and low-level knowledge related to human postures. The key idea is to design a task model that 1) covers various GMR-operations and 2) includes human postures to achieve tasks. We verify the applicability of our framework by testing an operational LfO system with a real robot. In addition, we quantify the coverage of the task model by analyzing online videos of household operations. In the context of one-shot robot teaching, the contribution of this study is a framework that 1) covers various GMR-operations and 2) mimics human postures during the operations.
