Preliminary experiments in motion programming of humanoid robot by human demonstrations

This paper presents preliminary experiments on automatic programming of mot ions of a humanoid robot by human demonstrations. Aiming to develop the "te aching by human demonstrations" system, three preliminary experiments are p erformed: (a) on-line recognition of human postures, (b) on-line imitation of human postures, and (c) recognition of the pick and place task and gener ation of a motion of a robot arm to play it back. The humanoid robot having its head with stereo camera arrangement, a 2-DOF neck and dual 7-DOF arms, is used in these experiments. The experimental results prove the potential of an easy and natural teaching by human demonstrations.