教示者の動きの見立てに基づく道具操作軌道の生成法獲得

抄録

In this paper, we propose an acquisition of trajectory generation method for tool operation by Life-Support Robot. The proposed method is based on human demonstration. First, a human demonstrator operates tools according to the movement of a robot that already knows basic manipulation trajectory. Then, the robot associates its motion with the demonstrator's motion. After that, the demonstrator can start to teach new movement to the robot for operating the tool. We show the effectiveness of the proposed method subject to wipe the table and so on.