Top

Published in:

2018 | OriginalPaper | Chapter

Robust One-Shot Robot Programming by Demonstration Using Entity-Based Resources

Authors : Eric M. Orendt, Michael Riedl, Dominik Henrich

Published in: Advances in Service and Industrial Robotics

Publisher: Springer International Publishing

Activate our intelligent search to find suitable subject content or patents.

search-config

AI-assisted search

Off

Abstract

General purpose robots are established tools in a variety of industrial applications. An important goal in actual research is to transfer the advantages of these tools into more unstructured environments like househoulds or small and medium sized enterprises. One challenge in this field is to enable non-experts to use all the capabilities of a robot. This includes two aspects: Robots must be intuitive to program and robust to execute. The main contribution of this work is a novel programming approach, that concerns both aspects.

Thus our system enables users to guide a robot kinesthetically through a task without prior knowledge. By observing resources in the workspace, the demonstrated task is encoded as a finite state machine (FSM). This FSM allows the reproduction of a task by the robot itself. Furthermore, our approach can integrate a deviation detection method to robustify task reproductions.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

inform now

previous chapter A Robotic Design for a MIM Based Technology

next chapter The “Robot Mechanics” Course Experience at Politecnico di Milano

Argall BD et al (2009) A survey of robot learning from demonstration. Robot Autonom Syst 57(5):469–483CrossRef

Atkeson C, Schaal S (1997) Robot learning from demonstration. In: Machine Learning-International Workshop Then Conference, pp 12–20

Billard A, Calinon S (2007) Robot programming by demonstration. In: Handbook of Robotics, vol 48, pp 1371–1394. Chap 59

Wu Y, Demiris Y (2010) Towards one shot learning by imitation for humanoid robots. In: Proceedings of IEEE ICRA, pp 2889–2894

Zöllner R et al (2005) Towards cognitive robots: building hierarchical task representations of manipulations from human demonstration. In: IEEE ICRA, pp 1535–1540

Orendt EM et al (2016) Robot programming by non-experts: intuitiveness and robustness of one-shot robot programming. In: Proceedings of IEEE RO-MAN

Akgun B et al (2012) Keyframe-based learning from demonstration: method and evaluation. Int J Soc Robot 4:343–355CrossRef

Groth C, Henrich D (2014) One-shot robot programming by Demonstration using an online oriented particles simulation. In: Proceedings of IEEE ROBIO

Calinon S, Billard AG (2007) What is the teacher’s role in robot programming by demonstration? Science 8:441–464

10.

Werner T et al (2016) ENACT: an efficient and extensible entity-actor framework for modular robotics software components. In: International Symposium on Robotics, pp 157–163

11.

Pirjanian P (1999) Behavior coordination mechanisms - state-of-the-art. Institute of Robotics and Intelligent Systems, USC. Technical report 213

12.

Grollman DH, Jenkins OC (2010) Can we learn finite state machine robot controllers from interactive demonstration? In: Studies in Computational Intelligence, pp 407–430

13.

Bentivegna DC et al (2006) Learning similar tasks from observation and practice. In: Proceedings of IEEE/RSJ IROS, vol 47, pp 2677–2683

14.

Abbeel P et al (2007) An application of reinforcement learning to aerobatic helicopter flight. Education 19:1

15.

Orendt EM, Henrich D (2015) Design of robust robot programs: deviation detection and classification using entity-based resources. In: Proceedings of IEEE ROBIO

16.

Nicolescu MN, Mataric MJ (2003) Natural methods for robot task learning: instructive demonstrations, generalization and practice. In: Proceedings of AAMAS

17.

Zöllner R et al (2004) Programming by demonstration: Dual-arm manipulation tasks for humanoid robots. In: Proceedings of IEEE/RSJ IROS, vol 1

18.

Groth C, Henrich D (2014) Single-shot learning and scheduled execution of behaviors for a robotic manipulator. In: International Symposium on Robotics, vol 41, pp 1–6

19.

Rusu RB, Cousins S (2011) 3D is here: point cloud library. In: IEEE International Conference on Robotics and Automation, pp 1–4

Title: Robust One-Shot Robot Programming by Demonstration Using Entity-Based Resources
Authors: Eric M. Orendt
Michael Riedl
Dominik Henrich
Publisher: Springer International Publishing
Book: Advances in Service and Industrial Robotics
Print ISBN: 978-3-319-61275-1

Electronic ISBN: 978-3-319-61276-8

Copyright Year: 2018
DOI: https://doi.org/10.1007/978-3-319-61276-8_60