Ude, Aleš; Dillmann, Rüdiger Robot motion specification: A vision-based approach. (English) Zbl 0831.62081 Surv. Math. Ind. 5, No. 2, 109-131 (1995). Summary: This paper presents an easy-to-use method for the specification of complex robot motions. The user demonstrates a desired motion by moving an object to be manipulated with his own hand. His performance is measured by a stereo vision system. The optimal motion is reconstructed with the help of a nonparametric regression technique which is based on smoothing vector splines and cross-validation. Uncertainties contained in the measurements are considered explicitly in the process of reconstruction. The proposed method can account for different kinds of restrictions on the robot’s motion. MSC: 62N99 Survival analysis and censored data 62P99 Applications of statistics 62G07 Density estimation 68T35 Theory of languages and software systems (knowledge-based systems, expert systems, etc.) for artificial intelligence 68T99 Artificial intelligence Keywords:robot programming; robot path planning; teaching by showing; uncertainty modelling; robot motions; stereo vision system; optimal motion; nonparametric regression; smoothing vector splines; cross-validation PDFBibTeX XMLCite \textit{A. Ude} and \textit{R. Dillmann}, Surv. Math. Ind. 5, No. 2, 109--131 (1995; Zbl 0831.62081)