The robot practices the path above the pegs, to avoid potential collisions.
Even if it memorized the human's path exactly, the robot might collide
because it sweeps out a different volume than the human's hand.
"Nudge gestures" are used to fine-tune the trajectory shape as the robot
"practices" what it has observed. In a limited way, this is like
supervised practice in human-to-human training.
Once the human is satisfied with the robot's performance, it is allowed
to route wires.
"Symbolic gestures" are used to implement a "menu" to call up stored
paths.
Copyright: © 1999 by Richard Voyles
Prof. Voyles' Home Page
Department of Computer Science and
Engineering. All rights reserved.
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