Trajectories and keyframes for kinesthetic teaching a human-robot interaction perspective

Kinesthetic teaching is an approach to providing demonstrations to a robot in Learning from Demonstration whereby a human physically guides a robot to perform a skill. In the common usage of kinesthetic teaching, the robot's trajectory during a demonstration is recorded from start to end. In th...

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Vydáno v:2012 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI) s. 391 - 398
Hlavní autoři: Akgun, Baris, Cakmak, Maya, Yoo, Jae Wook, Thomaz, Andrea Lockerd
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: New York, NY, USA ACM 05.03.2012
IEEE
Edice:ACM Conferences
Témata:
Computer systems organization > Embedded and cyber-physical systems > Robotics
Computing methodologies > Artificial intelligence > Control methods > Robotic planning
Computing methodologies > Artificial intelligence > Planning and scheduling > Robotic planning
Education
Human-centered computing > Human computer interaction (HCI)
Humans
Joints
Learning from Demonstration
Robots
Speech
Trajectory
USA Councils
learning from demonstration
ISBN:145031063X, 9781450310635
ISSN:2167-2121
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Shrnutí:Kinesthetic teaching is an approach to providing demonstrations to a robot in Learning from Demonstration whereby a human physically guides a robot to perform a skill. In the common usage of kinesthetic teaching, the robot's trajectory during a demonstration is recorded from start to end. In this paper we consider an alternative, keyframe demonstrations, in which the human provides a sparse set of consecutive keyframes that can be connected to perform the skill. We present a user-study (n=34) comparing the two approaches and highlighting their complementary nature. The study also tests and shows the potential benefits of iterative and adaptive versions of keyframe demonstrations. Finally, we introduce a hybrid method that combines trajectories and keyframes in a single demonstration.
ISBN:145031063X
9781450310635
ISSN:2167-2121
DOI:10.1145/2157689.2157815