Image-based trajectory robot programming planning approach
First Claim
1. A method of programming at least one robot by demonstration comprising:
- performing at least one set of demonstrations of at least one task in the field of view of at least one fixed camera to obtain at least one set of observed task trajectories of at least one manipulated object;
generating a generalized task trajectory from said at least one set of observed task trajectories; and
executing said at least one task by said at least one robot in the field of view of said at least one fixed camera, using image-based visual servoing to minimize the difference between an observed trajectory during said execution and the generalized task trajectory;
wherein Cartesian positions and velocities of said at least one manipulated object are calculated from image measurements from said at least one set of observed task trajectories, and said image-based visual servoing comprises following said Cartesian positions and velocities of said at least one manipulated object by minimizing the difference between said observed task trajectory during said execution and the generalized task trajectory.
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Abstract
A method of programming at least one robot by demonstration comprising: performing at least one demonstration of at least one task in the Held of view of at least one fixed camera to obtain at least one observed task trajectory of at least one manipulated object, preferably at least one set of observed task trajectories; generating a generalized task trajectory from said at least one observed task trajectory, preferably from said at least one set of observed task trajectories; and executing said at least one task by said at least one robot in the field of view of said at least one fixed camera, preferably using image-based visual servoing to minimize the difference between the executed trajectory during said execution and the generalized task trajectory.
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Citations
18 Claims
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1. A method of programming at least one robot by demonstration comprising:
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performing at least one set of demonstrations of at least one task in the field of view of at least one fixed camera to obtain at least one set of observed task trajectories of at least one manipulated object; generating a generalized task trajectory from said at least one set of observed task trajectories; and executing said at least one task by said at least one robot in the field of view of said at least one fixed camera, using image-based visual servoing to minimize the difference between an observed trajectory during said execution and the generalized task trajectory; wherein Cartesian positions and velocities of said at least one manipulated object are calculated from image measurements from said at least one set of observed task trajectories, and said image-based visual servoing comprises following said Cartesian positions and velocities of said at least one manipulated object by minimizing the difference between said observed task trajectory during said execution and the generalized task trajectory. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for executing at least one task learned by observation of at least one set of demonstrations, comprising:
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at least one robot with at least one movable end-effector; at least one object to be manipulated by the at least one end-effector; at least one fixed camera for observing said at least one set of demonstrations of the at least one task, resulting in at least one set of observed task trajectories, and observing the execution of said at least one task by said at least one robot; at least one processing unit for generating a generalized task trajectory from said at least one set of observed task trajectories; at least one controller for servoing said at least one robot to reproduce the task with its end-effector in the field of view of said at least one said fixed camera using image-based visual servoing to minimize the difference between the observed trajectory during the execution and the generalized task trajectory, whereas a reference task trajectory is obtained by performing a smoothing of said set of observed task trajectories, and whereas said generalized task trajectory is obtained by performing a second order conic optimization of the reference task trajectory within a set of constraints imposed on said observed task trajectories and said at least one robot. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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Specification