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Humanoid Robotics Laboratory

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Author: Dantam, Neil × Author: Essa, Irfan ×

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Linguistic Transfer of Human Assembly Tasks to Robots

2012-10 , Dantam, Neil , Essa, Irfan , Stilman, Mike

We demonstrate the automatic transfer of an assembly task from human to robot. This work extends efforts showing the utility of linguistic models in verifiable robot control policies by now performing real visual analysis of human demonstrations to automatically extract a policy for the task. This method tokenizes each human demonstration into a sequence of object connection symbols, then transforms the set of sequences from all demonstrations into an automaton, which represents the task-language for assembling a desired object. Finally, we combine this assembly automaton with a kinematic model of a robot arm to reproduce the demonstrated task.

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Algorithms for Linguistic Robot Policy Inference from Demonstration of Assembly Tasks

2012 , Dantam, Neil , Essa, Irfan , Stilman, Mike

We describe several algorithms used for the inference of linguistic robot policies from human demonstration. First, tracking and match objects using the Hungarian Algorithm. Then, we convert Regular Expressions to Nondeterministic Finite Automata (NFA) using the McNaughton-Yamada-Thompson Algorithm. Next, we use Subset Construction to convert to a Deterministic Finite Automaton. Finally, we minimize finite automata using either Hopcroft's Algorithm or Brzozowski's Algorithm.

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