Programming Everyday Task by Demonstration using Primitive Skills for a Manipulator

This manuscript presents a method to program everyday manipulation tasks for a robot by human demonstration using primitive skills. The hand movement in the demonstrated task is recorded then segmented into sub-actions. Each sub-action is mapped to primitives skills of the robot. We proposed a list of necessary skills for a manipulator which are common to use in many everyday tasks. In order to adapt with the change of object's location, we applied Dynamic Movement Primitives model for regenerating movement which follows the demonstrated trajectory. In experiment, we considered the task 'dispensing water' from a water thermos pot performed by a robot arm to verify the proposed method.