Physical Robots Programming by Imitation Using Virtual Robot Prototypes

Abstract

This paper deals with programming through imitation. In this paper the author gives a brief overview of a general programming concept, describing the primary tasks which a robot control system needs to implement. Based on the original idea the author proposes a new strategy to robot programming, using virtual robot prototypes. In this paper, one uses the virtual robot prototypes and the motion capture systems to obtain the reference motion data, which typically consists of a set of trajectories in the Cartesian space. To generate the desired motion sequence for the real robot, one captures the motions from a virtual robot model and maps these to the joint settings of the physical robot.