ROBOT TRAINING BY HUMAN DEMONSTRATION OF TASKS WITH FORCE AND POSITION OBJECTIVES

摘要

A system for demonstrating a task for a robot includes a glove, sensors, and a controller. The sensors measure task characteristics while a human operator wears the glove and demonstrates the task. The task features include a pose, a common angular configuration, and a distributed force of the glove. The controller receives the task features and uses machine learning logic to learn and record the demonstrated task as a task application file. The controller transmits control signals to the robot to cause the robot to automatically perform the demonstrated task. One method involves measuring the task features using the glove, transferring the task features to the controller, processing the task features using the machine learning logic, generating the control signals, and transmitting the control signals to the robot to cause the robot to automatically performs the task.