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|Title:||Automatic robot programming by visual demonstration of task execution|
|Publisher:||I E E E|
|Citation:||8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97,913-918|
|Abstract:||We propose a novel approach to program a robot by demonstrating the task multiple number of times in front of a vision system. The system analyzes the visual data captured during the demonstration of the task by a human operator and produces manipulator level commands, so that the robot can replicate the task. Here we integrate human dexterity with sensory data using computer vision techniques in a single platform. This paper describes a fast and efficient algorithm for the vision system to process a binocular video sequence to obtain the trajectories of each component of the end-effector. The concept of trajectory bundle is introduced to avoid singularities and to obtain an optimal path.|
|Appears in Collections:||Proceedings papers|
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