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arXiv · 2008.01513

A Learning-from-Observation Framework: One-Shot Robot Teaching for Grasp-Manipulation-Release Household Operations

Naoki Wake·Riku Arakawa·Iori Yanokura·Takuya Kiyokawa·Kazuhiro Sasabuchi·Jun Takamatsu·Katsushi Ikeuchi
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Abstract

A household robot is expected to perform various manipulative operations with an understanding of the purpose of the task. To this end, a desirable robotic application should provide an on-site robot teaching framework for non-experts. Here we propose a Learning-from-Observation (LfO) framework for grasp-manipulation-release class household operations (GMR-operations). The framework maps human demonstrations to predefined task models through one-shot teaching. Each task model contains both high-level knowledge regarding the geometric constraints and low-level knowledge related to human postures. The key idea is to design a task model that 1) covers various GMR-operations and 2) includes human postures to achieve tasks. We verify the applicability of our framework by testing an operational LfO system with a real robot. In addition, we quantify the coverage of the task model by analyzing online videos of household operations. In the context of one-shot robot teaching, the contribution of this study is a framework that 1) covers various GMR-operations and 2) mimics human postures during the operations.

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Naoki Wake, Riku Arakawa, Iori Yanokura, Takuya Kiyokawa, Kazuhiro Sasabuchi, Jun Takamatsu, Katsushi Ikeuchi. 2020-10-20. A Learning-from-Observation Framework: One-Shot Robot Teaching for Grasp-Manipulation-Release Household Operations. https://doi.org/10.1109/ieeeconf49454.2021.9382750

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