Skill Acquisition from Human Demonstration Using a Hidden Markov Model

A new approach to skill acquisition in assembly is proposed. An assembly skill is represented by a hybrid dynamic system where a discrete event controller models the skill at the task level. The output of the discrete event controller provides the reference commands for the underlying robot controller. This structure is naturally encoded by a hidden Markov model (HMM). The HMM parameters are obtained by training on sensory data from human demonstrations of the skill. Currently, assembly tasks have to be performed by human operators or by robots using expensive fixtures. Our approach transfers the assembly skill from an expert human operator to the robot, thus making it possible for a robot to perform assembly tasks without the use of expensive fixtures. 1 Introduction Manipulation tasks such as assembly are easily performed by human operators. However, these tasks are still difficult for robots and require the use of precise and expensive fixtures. Furthermore, human operators are ab..