Abstract
This paper presents the collaborated working model to provide service using robot. Besides, we present the physical training system for prototype of the working model. At first in this system, to compare the posture, we define a human-like generic template with two angles, then, adjust the template to fit on each of the person to improve the recognition rate of system. Moreover, we create robot motion that has used angle data of the created template. The angle data is transformed automatically to the most similar motion. This is achieved by the particular expressions that are up to robot specification. The expressions intend to differences of angle measurement on X, Y, Z planes and DOF constraint. We also show the posture recognition and motion transformation are working well.
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