物体形状と人動作の学習に基づくアーム動作生成

抄録

We propose the method for planning a robot motion of daily tasks by learning the relationship between objects shape and human motion. Since objects have different shapes even in the same category, it is difficult for a robot to perform tasks automatically. Motion generation of a robot consists of object recognition, shape estimation, and estimation of a motion. The motions are estimated by learning the relationship between objects shape and human motion using linear regression analysis in advance. We focus on the task of pouring water with a plastic bottle. Finally we evaluate a motion position posture estimated from objects shape and show the effectiveness of our proposed method.