论文标题
基于平滑度作为人身到机器人运动技能转移的基础，识别原型任务执行
Identification of Prototypical Task Executions Based on Smoothness as Basis of Human-to-Robot Kinematic Skill Transfer
论文作者
论文摘要
在本文中，我们通过聚集了由人类示威者执行的一组示例来研究原型任务执行的人类到机器人技能转移，其中平滑度和运动学特征分别代表技能和任务表现。我们用实验任务中的数据来体现我们的技能转移方法，其中工具以目标速度触摸支撑面。在模拟中识别并将其转移到通用机器人组中。结果说明了基于技能和绩效功能的任务模型如何为机器人应用提供分析和设计标准。
In this paper we investigate human-to-robot skill transfer based on the identification of prototypical task executions by clustering a set of examples performed by human demonstrators, where smoothness and kinematic features represent skill and task performance, respectively. We exemplify our skill transfer approach with data from an experimental task in which a tool touches a support surface with a target velocity. Prototypical task executions are identified and transferred to a generic robot arm in simulation. The results illustrate how task models based on skill and performance features can provide analysis and design criteria for robotic applications.
