Information: Join today and make your research activities more affordable! Technical workshop participation fees and annual registration fees are available at member rates.
Notice: [Important] Announcement of Changes to Registration Fee Payment and Manuscript Upload Procedures for IEICE Technical Meetings
IEICE Technical Committee Submission System
Conference Paper's Information		 Online Proceedings
[Sign in]
Tech. Rep. Archives
 Go Top Page Go Previous   [Japanese] / [English] 

Paper Abstract and Keywords
Presentation 2009-06-16 15:40
Skill Transfer to a Robot based on Statistical Features of Direct Teaching Motion by a Human -- A Case Study for Origami Folding Task --
Yasuyuki Kihara, Yasuyoshi Yokokohji (Kyoto Univ.) HIP2009-69
Abstract (in Japanese) (See Japanese page) 
(in English) Even if a robot has enough potential for sensing and actuation to perform a skillful manipulation task, it cannot perform such a task unless it knows how to do such a task, i.e., manipulation skill. We usually use a teaching pendant to teach the desired motions to robots in factories and sometimes specify the motions by means of computer programming. However, it is very difficult to teach manipulation skill through such conventional ways because manipulation skill may involve complicated sensory feedback and such feedback control law is difficult, even for an expert of this task, to describe explicitly.
To solve this problem, we proposed a method to transfer skill from human to robot by direct teaching. A Hidden Markov Model (HMM) was employed to model the statistical characteristics of the teaching data demonstrated by a human. A nominal trajectory and sensory feedback control laws were extracted from the statistical characteristics of the trained HMM. However, the proposed method has several remaining problems. First, a threshold value to extract the periods where the sensory feedback control is applied must be chosen by trial and error. Second, the way of applying sensory feedback is binary, i.e., the feedback is either fully applied or not at all. Third, although the sensory feedback period is extracted based on the correlation between velocity and force, no directional dependency of this correlation is taken into account.
In this paper, a new method to extract sensory feedback control laws is proposed. The proposed method introduces continuous weighting factors based on the canonical correlations between velocity and force so that we don't have to decide a threshold by trial and error, the degree of applying sensory feedback becomes continuous, and the directional dependency of the correlation is taken into account.
Keyword (in Japanese) (See Japanese page) 
(in English) skill transfer / direct teaching / robot hand / origami folding / / / /  
Reference Info. IEICE Tech. Rep., vol. 109, no. 83, HIP2009-69, pp. 107-110, June 2009.
Paper # HIP2009-69 
Date of Issue 2009-06-08 (HIP) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF HIP2009-69

Conference Information
Committee HIP  
Conference Date 2009-06-15 - 2009-06-16 
Place (in Japanese) (See Japanese page) 
Place (in English) Hokkaido University 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To HIP 
Conference Code 2009-06-HIP 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Skill Transfer to a Robot based on Statistical Features of Direct Teaching Motion by a Human 
Sub Title (in English) A Case Study for Origami Folding Task 
Keyword(1) skill transfer  
Keyword(2) direct teaching  
Keyword(3) robot hand  
Keyword(4) origami folding  
Keyword(5)  
Keyword(6)  
Keyword(7)  
Keyword(8)  
1st Author's Name Yasuyuki Kihara  
1st Author's Affiliation Kyoto University (Kyoto Univ.)
2nd Author's Name Yasuyoshi Yokokohji  
2nd Author's Affiliation Kyoto University (Kyoto Univ.)
3rd Author's Name  
3rd Author's Affiliation ()
4th Author's Name  
4th Author's Affiliation ()
5th Author's Name  
5th Author's Affiliation ()
6th Author's Name  
6th Author's Affiliation ()
7th Author's Name  
7th Author's Affiliation ()
8th Author's Name  
8th Author's Affiliation ()
9th Author's Name  
9th Author's Affiliation ()
10th Author's Name  
10th Author's Affiliation ()
11th Author's Name  
11th Author's Affiliation ()
12th Author's Name  
12th Author's Affiliation ()
13th Author's Name  
13th Author's Affiliation ()
14th Author's Name  
14th Author's Affiliation ()
15th Author's Name  
15th Author's Affiliation ()
16th Author's Name  
16th Author's Affiliation ()
17th Author's Name  
17th Author's Affiliation ()
18th Author's Name  
18th Author's Affiliation ()
19th Author's Name  
19th Author's Affiliation ()
20th Author's Name  
20th Author's Affiliation ()
21st Author's Name  
21st Author's Affiliation ()
22nd Author's Name  
22nd Author's Affiliation ()
23rd Author's Name  
23rd Author's Affiliation ()
24th Author's Name  
24th Author's Affiliation ()
25th Author's Name  
25th Author's Affiliation ()
26th Author's Name / /
26th Author's Affiliation ()
()
27th Author's Name / /
27th Author's Affiliation ()
()
28th Author's Name / /
28th Author's Affiliation ()
()
29th Author's Name / /
29th Author's Affiliation ()
()
30th Author's Name / /
30th Author's Affiliation ()
()
31st Author's Name / /
31st Author's Affiliation ()
()
32nd Author's Name / /
32nd Author's Affiliation ()
()
33rd Author's Name / /
33rd Author's Affiliation ()
()
34th Author's Name / /
34th Author's Affiliation ()
()
35th Author's Name / /
35th Author's Affiliation ()
()
36th Author's Name / /
36th Author's Affiliation ()
()
Speaker Author-1 
Date Time 2009-06-16 15:40:00 
Presentation Time 20 minutes 
Registration for HIP 
Paper # HIP2009-69 
Volume (vol) vol.109 
Number (no) no.83 
Page pp.107-110 
#Pages 4 
Date of Issue 2009-06-08 (HIP) 

[Return to Top Page]

[Return to IEICE Web Page]
The Institute of Electronics, Information and Communication Engineers (IEICE), Japan