Guiding attention for grasping tasks by gestural instruction: the GRAVIS-robot architecture

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.977203

Jochen J. Steil, G. Heidemann, Ján Jockusch, Robert Rae, N. Jungclaus, H. Ritter

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引用次数: 25

Abstract

A major goal for the realization of a new generation of intelligent robots is the capability of instructing work tasks by interactive demonstration. To make such a process efficient and convenient for the human user requires that both the robot and the user can establish and maintain a common focus of attention. We describe a hybrid architecture that combines neural networks and finite stale machines into a flexible framework for controlling the behaviour of a vision based robot called GRAVIS-robot (Gestural Recognition Active Vision System robot). It consists of a binocular camera head, a 6 DOF robot arm and a 9 DOF multifingered hand. We focus primarily on nonverbal communication based on gestural commands of a human instructor which will at a later stage be complemented by spoken instructions.

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用手势指导抓取任务的注意力引导:重力机器人结构

实现新一代智能机器人的主要目标是具有交互式演示指导工作任务的能力。为了使这样一个过程对人类用户来说高效和方便，需要机器人和用户都能建立并保持一个共同的关注焦点。我们描述了一种混合架构，该架构将神经网络和有限陈旧机器结合到一个灵活的框架中，用于控制基于视觉的机器人GRAVIS-robot(手势识别主动视觉系统机器人)的行为。它由一个双目摄像机头，一个6自由度的机械臂和一个9自由度的多指手组成。我们主要关注基于人类讲师手势指令的非语言交流，这将在稍后的阶段由口头指令补充。

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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