Generation of an Assembly-Task Model Analyzing Human Demonstration.

Abstract

We propose a method for generating an assembly-task model from human demonstration. The model is pairs of operational coordinates and local contact-state transition models (local models) allocated in the coordinates. To generate the model, (1) the demonstrated data is segmented in each contact-state transition, (2) the segmented data is analyzed for setting operational coordinates using the component principal analysis, and (3) the local models are allocated to contact vertex pairs projected onto the operational coordinates. The usefulness of our method is discussed by the analysis results of demonstration in two assembly tasks and the robot task-execution using the generated models.