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Specification of Physical Interaction through Vision and Force-based Demonstration

This paper shows work in progress towards a new approach for building an abstract task representation from a single human-guided demonstration: the Specification by Demonstration approach. Guided by a human instructor, a robot extracts a set of key task references and relates them to a visual model of the object. With this information, a physical interaction task representation is built and stored in a database for its future use. The robot makes use of visual and force feedback both during the teaching and on future autonomous operation. Preliminary experiments are performed using a mobile manipulator interacting with a dishwasher.