Obtaining Manipulation Skills from Observation

In order to do so, the following needs must be satisfied: the observation module needs to have the ability to obtain the trajectory of a manipulated object; the recognition module needs to have the ability to extract the transition of topological contact relations, because an assembly task can be represented by that [9]; and the generation module needs to have the ability to move the assembly parts to achieve the same contact transition. [10] has proposed a method to compute these movements. But in an assembly task, the generation module needs to have not only position-control ability, but also force-control ability; in addition, the module needs to detect the execution errors by using the various sensors and to correct these errors. For more effective operation of these higher controls, a manipulation skill has been proposed [3]. Manipulation skills are basic operations to achieve an assembly task. So, the robot program that uses these skills is represented as a combination of manipulation skills. In this paper, these basic operations are called sub-skills.