Organizational Unit:
Humanoid Robotics Laboratory

Research Organization Registry ID
Description
Previous Names
Parent Organization
Parent Organization
Includes Organization(s)
ArchiveSpace Name Record

Publication Search Results

Now showing 1 - 1 of 1
  • Item
    Linguistic Transfer of Human Assembly Tasks to Robots
    (Georgia Institute of Technology, 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.