To provide a detection method for both hands in robot teaching by demonstration by a demonstrator.SOLUTION: Camera images of hands of a demonstrator and of a work-piece are provided to a first neutral network through which the left hand and the right hand of the demonstrator are identified from the images and further trimmed sub-images of the identified hands are provided. The first neural network is trained using images from which the left hand and the right hand are preliminarily identified. Subsequently, the trimmed sub-images are provided to a second neural network that detects postures of both left and right hands from the images. When the second neural network is trained using the image of the right hand, the sub-image of the left hand is inverted in a horizontal direction before and after detecting the posture of the hand. Data on the postures of the hands are converted to data on a posture of a gripper of a robot, which are used to teach the robot to operate through a demonstration by the demonstrator.SELECTED DRAWING: Figure 3
DETECTION METHOD FOR BOTH HAND IN TEACHING BY DEMONSTRATION