This paper presents an approach for inferring geometric constraints in human
demonstrations. In our method, geometric constraint models are built to create …

This letter introduces a method for recognizing geometric constraints from human
demonstrations using both position and force measurements. Our key idea is that position …

Manipulations of a constrained object often use a non-rigid grasp that allows the object to
rotate relative to the end effector. This orientation slip strategy is often present in natural …

Many physical actions, such as pulling out a drawer or wi** a table may be modeled as
geometric constraints. Geometric constraints restrict the motion of objects and generate …

抄録 In the situation in which a robot and a human work together by collaborating with each
other, a robot and a human share one working environment, and each interferes in each …