摘要
To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has different force distribution, a support vector machine classifier is built to identify the contact conditions according to the force signal. Finally, the robot can obtain the skill from the human demonstration.
To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has different force distribution, a support vector machine classifier is built to identify the contact conditions according to the force signal. Finally, the robot can obtain the skill from the human demonstration.
基金
SponsoredbyNational"863"ProgramProject ( 863 5 12 972 0 0 4)
