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Robot motion specification: A vision-based approach. (English) Zbl 0831.62081

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
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