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 demonstration of at least one task in the field 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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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
20 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 demonstration of at least one task in the field 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for executing at least one task learned by at least one observation of at least one demonstration, 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 demonstration of the at least one task, resulting in at least one observed task trajectory, preferably 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 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. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification