Gesture-Based Extraction of Robot Skill Parameters for Intuitive Robot Programming

Despite a lot of research in the field, only very little experience exists with Teaching by Demonstration (TbD) in actual industrial use cases. In the factory of the future, it is necessary to rapidly reprogram flexible mobile manipulators to perform new tasks, when the need arises, for which a work...

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Vydané v:	Journal of intelligent & robotic systems Ročník 80; číslo Suppl 1; s. 149 - 163
Hlavní autori:	Pedersen, Mikkel Rath, Krüger, Volker
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Dordrecht Springer Netherlands 01.12.2015 Springer Nature B.V
Predmet:	Artificial Intelligence Control Division Electrical Engineering Engineering Industrial applications Manipulators Mechanical Engineering Mechatronics Parameters Programming Robot arms Robot learning Robotics Robots Specifications Tasks Industrial robots Teaching by demonstration Robot skills Gesture recognition
ISSN:	0921-0296, 1573-0409
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Abstract	Despite a lot of research in the field, only very little experience exists with Teaching by Demonstration (TbD) in actual industrial use cases. In the factory of the future, it is necessary to rapidly reprogram flexible mobile manipulators to perform new tasks, when the need arises, for which a working system capable of TbD would be ideal. Contrary to current TbD approaches, that generally aim to recognize both action and where it is applied, we propose a division of labor, where the operator manually specifies the action the robot should perform, while gestures are used for specifying the relevant action parameter (e.g. on which object to apply the action). Using this two-step method has the advantages that there is no uncertainty of which action the robot will perform, it takes into account that the environment changes, so objects do not need to be at predefined locations, and the parameter specification is possible even for inexperienced users. Experiments with 24 people in 3 different environments verify that it is indeed intuitive, even for a robotics novice, to program a mobile manipulator using this method.
AbstractList	Despite a lot of research in the field, only very little experience exists with Teaching by Demonstration (TbD) in actual industrial use cases. In the factory of the future, it is necessary to rapidly reprogram flexible mobile manipulators to perform new tasks, when the need arises, for which a working system capable of TbD would be ideal. Contrary to current TbD approaches, that generally aim to recognize both action and where it is applied, we propose a division of labor, where the operator manually specifies the action the robot should perform, while gestures are used for specifying the relevant action parameter (e.g. on which object to apply the action). Using this two-step method has the advantages that there is no uncertainty of which action the robot will perform, it takes into account that the environment changes, so objects do not need to be at predefined locations, and the parameter specification is possible even for inexperienced users. Experiments with 24 people in 3 different environments verify that it is indeed intuitive, even for a robotics novice, to program a mobile manipulator using this method. Issue Title: Special Issue on Cognitive Robotics Systems: Concepts and Applications & Selected Papers from the National Meeting of Artificial and Computational Intelligence 2013 Despite a lot of research in the field, only very little experience exists with Teaching by Demonstration (TbD) in actual industrial use cases. In the factory of the future, it is necessary to rapidly reprogram flexible mobile manipulators to perform new tasks, when the need arises, for which a working system capable of TbD would be ideal. Contrary to current TbD approaches, that generally aim to recognize both action and where it is applied, we propose a division of labor, where the operator manually specifies the action the robot should perform, while gestures are used for specifying the relevant action parameter (e.g. on which object to apply the action). Using this two-step method has the advantages that there is no uncertainty of which action the robot will perform, it takes into account that the environment changes, so objects do not need to be at predefined locations, and the parameter specification is possible even for inexperienced users. Experiments with 24 people in 3 different environments verify that it is indeed intuitive, even for a robotics novice, to program a mobile manipulator using this method.
Author	Pedersen, Mikkel Rath Krüger, Volker
Author_xml	– sequence: 1 givenname: Mikkel Rath surname: Pedersen fullname: Pedersen, Mikkel Rath email: mrp@rvmi.aau.dk organization: Robotics, Vision and Machine Intelligence (RVMI) Lab, Department of Mechanical and Manufacturing Engineering, Aalborg University Copenhagen – sequence: 2 givenname: Volker surname: Krüger fullname: Krüger, Volker organization: Robotics, Vision and Machine Intelligence (RVMI) Lab, Department of Mechanical and Manufacturing Engineering, Aalborg University Copenhagen
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Snippet	Despite a lot of research in the field, only very little experience exists with Teaching by Demonstration (TbD) in actual industrial use cases. In the factory... Issue Title: Special Issue on Cognitive Robotics Systems: Concepts and Applications & Selected Papers from the National Meeting of Artificial and Computational...
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SubjectTerms	Artificial Intelligence Control Division Electrical Engineering Engineering Industrial applications Manipulators Mechanical Engineering Mechatronics Parameters Programming Robot arms Robot learning Robotics Robots Specifications Tasks
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