Current Research Topics

Last Updated: 2000. 4.18

Under Construction !!

1999 - 2000
Development of Platform for Learning Human Behaviour (done in 1999)

Task Level Acquisition

  1. Robot observes the human demonstration with 9eye stereo vision and data gloves.
    And the robot makes a rough human task model (Human Motion Model) by the input data from data gloves.
  2. Robot determines the Attention Point (AP), which requires detailed analysis,
    and processes the specified depth data by 3DTM method.
    This AP analysis makes a detailed human task model (Objects Model).
  3. Robot peforms the same task in a different environment, which differs in arrangement and type of the objects.
Eexperiment
Recognition Performance
Behaviour Level Acquisition

  1. Robot observes a motion of each assembly object with 9eye stereo vision
  2. It obtains the transitions of topological contact relation.
  3. It analyzes each contact relation by DOF (dimension of freedom) analysis.
  4. In each transition, it assigns a basic assembly operation called "sub-skill" from the transition of DOF.
  5. It performs the same assembly task by operating appropriate sub-skills sequentially.
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