Toward the flexible automation for robot learning from human demonstration using multimodal perception approach

Jing Hao Chen; Guan Yi Lu; Yi Hsing Chien; Hsin Han Chiang; Wei Yen Wang; Chen Chien Hsu

doi:10.1109/ICSSE.2019.8823444

Toward the flexible automation for robot learning from human demonstration using multimodal perception approach

Jing Hao Chen
, Guan Yi Lu
, Yi Hsing Chien
, Hsin Han Chiang
, Wei Yen Wang
, Chen Chien Hsu

Department of Vehicle Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This study proposes a multi-modal perception approach to make a robotic arm perform flexible automation and further simplify the complicated coding process of controlling a robotic arm. The depth camera is utilized for detect face and hand gesture for recognizing operator identification and commands. In addition, the kinematics of the robotic arm associated with the position of manipulated objects can be derived based on the information through human demonstrations and detected objects. In the experiments, the proposed multi-modal perception system can firstly recognize the operator. Then, the operator can demonstrate a task to generate the learning data with the assistance of using gesture. Afterward, the robotic arm can perform the same task as human demonstration. During the process of imitating task, the robotic arm can also be guided by the gesture command of operator.

Original language	English
Title of host publication	Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	148-153
Number of pages	6
ISBN (Electronic)	9781728105253
DOIs	https://doi.org/10.1109/ICSSE.2019.8823444
State	Published - Jul 2019
Event	2019 International Conference on System Science and Engineering, ICSSE 2019 - Dong Hoi City, Quang Binh Province, Viet Nam Duration: 20 Jul 2019 → 21 Jul 2019

Publication series

Name	Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019

Conference

Conference	2019 International Conference on System Science and Engineering, ICSSE 2019
Country/Territory	Viet Nam
City	Dong Hoi City, Quang Binh Province
Period	20/07/19 → 21/07/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

face recognition
gesture recognition
human demonstration
multi-modal perception
object recognition

Access to Document

10.1109/ICSSE.2019.8823444

Cite this

Chen, J. H., Lu, G. Y., Chien, Y. H., Chiang, H. H., Wang, W. Y., & Hsu, C. C. (2019). Toward the flexible automation for robot learning from human demonstration using multimodal perception approach. In Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019 (pp. 148-153). Article 8823444 (Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICSSE.2019.8823444

Chen, Jing Hao ; Lu, Guan Yi ; Chien, Yi Hsing et al. / Toward the flexible automation for robot learning from human demonstration using multimodal perception approach. Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 148-153 (Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019).

@inproceedings{18925f99dd8045e0aa1b0e8778f27232,

title = "Toward the flexible automation for robot learning from human demonstration using multimodal perception approach",

abstract = "This study proposes a multi-modal perception approach to make a robotic arm perform flexible automation and further simplify the complicated coding process of controlling a robotic arm. The depth camera is utilized for detect face and hand gesture for recognizing operator identification and commands. In addition, the kinematics of the robotic arm associated with the position of manipulated objects can be derived based on the information through human demonstrations and detected objects. In the experiments, the proposed multi-modal perception system can firstly recognize the operator. Then, the operator can demonstrate a task to generate the learning data with the assistance of using gesture. Afterward, the robotic arm can perform the same task as human demonstration. During the process of imitating task, the robotic arm can also be guided by the gesture command of operator.",

keywords = "face recognition, gesture recognition, human demonstration, multi-modal perception, object recognition",

author = "Chen, \{Jing Hao\} and Lu, \{Guan Yi\} and Chien, \{Yi Hsing\} and Chiang, \{Hsin Han\} and Wang, \{Wei Yen\} and Hsu, \{Chen Chien\}",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 International Conference on System Science and Engineering, ICSSE 2019 ; Conference date: 20-07-2019 Through 21-07-2019",

year = "2019",

month = jul,

doi = "10.1109/ICSSE.2019.8823444",

language = "???core.languages.en\_GB???",

series = "Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "148--153",

booktitle = "Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019",

}

Chen, JH, Lu, GY, Chien, YH, Chiang, HH, Wang, WY & Hsu, CC 2019, Toward the flexible automation for robot learning from human demonstration using multimodal perception approach. in Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019., 8823444, Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019, Institute of Electrical and Electronics Engineers Inc., pp. 148-153, 2019 International Conference on System Science and Engineering, ICSSE 2019, Dong Hoi City, Quang Binh Province, Viet Nam, 20/07/19. https://doi.org/10.1109/ICSSE.2019.8823444

Toward the flexible automation for robot learning from human demonstration using multimodal perception approach. / Chen, Jing Hao; Lu, Guan Yi; Chien, Yi Hsing et al.
Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 148-153 8823444 (Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Toward the flexible automation for robot learning from human demonstration using multimodal perception approach

AU - Chen, Jing Hao

AU - Lu, Guan Yi

AU - Chien, Yi Hsing

AU - Chiang, Hsin Han

AU - Wang, Wei Yen

AU - Hsu, Chen Chien

PY - 2019/7

Y1 - 2019/7

N2 - This study proposes a multi-modal perception approach to make a robotic arm perform flexible automation and further simplify the complicated coding process of controlling a robotic arm. The depth camera is utilized for detect face and hand gesture for recognizing operator identification and commands. In addition, the kinematics of the robotic arm associated with the position of manipulated objects can be derived based on the information through human demonstrations and detected objects. In the experiments, the proposed multi-modal perception system can firstly recognize the operator. Then, the operator can demonstrate a task to generate the learning data with the assistance of using gesture. Afterward, the robotic arm can perform the same task as human demonstration. During the process of imitating task, the robotic arm can also be guided by the gesture command of operator.

AB - This study proposes a multi-modal perception approach to make a robotic arm perform flexible automation and further simplify the complicated coding process of controlling a robotic arm. The depth camera is utilized for detect face and hand gesture for recognizing operator identification and commands. In addition, the kinematics of the robotic arm associated with the position of manipulated objects can be derived based on the information through human demonstrations and detected objects. In the experiments, the proposed multi-modal perception system can firstly recognize the operator. Then, the operator can demonstrate a task to generate the learning data with the assistance of using gesture. Afterward, the robotic arm can perform the same task as human demonstration. During the process of imitating task, the robotic arm can also be guided by the gesture command of operator.

KW - face recognition

KW - gesture recognition

KW - human demonstration

KW - multi-modal perception

KW - object recognition

UR - https://www.scopus.com/pages/publications/85072932305

U2 - 10.1109/ICSSE.2019.8823444

DO - 10.1109/ICSSE.2019.8823444

M3 - ???researchoutput.researchoutputtypes.contributiontobookanthology.conference???

AN - SCOPUS:85072932305

T3 - Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019

SP - 148

EP - 153

BT - Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 International Conference on System Science and Engineering, ICSSE 2019

Y2 - 20 July 2019 through 21 July 2019

ER -

Chen JH, Lu GY, Chien YH, Chiang HH, Wang WY, Hsu CC. Toward the flexible automation for robot learning from human demonstration using multimodal perception approach. In Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 148-153. 8823444. (Proceedings of 2019 International Conference on System Science and Engineering, ICSSE 2019). doi: 10.1109/ICSSE.2019.8823444

Toward the flexible automation for robot learning from human demonstration using multimodal perception approach

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

Cite this