Task translator module
Once the task recognition system has analyzed the sensory data, it
produces the task descriptions such as the grasp employed by the human and the
types of object motions in the task. Subsequently, the task translator
converts these descriptions, together with a priori kinematic information of
the robot manipulator, to produce control signals for the robot execution of
the task.
It maps the human grasp to that of
the manipulator. Meanwhile, the trajectory of the
manipulator approximately follows that of the human hand during the
execution of the task. The task simulator
is used to simulate the execution of the task using the arm and hand.
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