Instruction and Recognition System for Operating Variable Structures by Manipulation Robots

摘要

With the rapid development of robotic hardware and software platform, robots are more easily to provide services at home or office, and it is necessary to instruct robots to perform tasks on the spot. This paper presents a user interface for manipulating structured furniture and electric equipments. The contribution of this papers is summarized as follows. 1) We propose a minimally invasive system in which users can instruct robots to operate variable structure intuitively. 2) In order to obtain a 3D point that corresponds to the user-touched point on the interface, we show a method to estimate 3D points from screen points of the robot's view images. 3) We propose a system for robots to learn tasks by memorizing operation target.