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Incremental kinesthetic teaching of motion primitives using the motion refinement tube

AUTONOMOUS ROBOTS 2011年第2-3期31卷 115-131页

作者： Lee, Dongheui Ott, Christian Tech Univ Munich Dept Elect Engn & Informat Technol D-80290 Munich Germany German Aerosp Ctr DLR eV Inst Robot & Mechatron D-82234 Wessling Germany

We present an approach for kinesthetic teaching of motion primitives for a humanoid robot. The proposed teaching method starts with observational learning and applies iterative kinesthetic motion refinement using a forgetting factor. Kinesthetic teaching is supported by introducing the motion refinement tube, which represents an area of allowed motion refinement around the nominal trajectory. On the realtime control level, the kinesthetic teaching is handled by a customized impedance controller, which combines tracking performance with compliant physical interaction and allows to implement soft boundaries for the motion refinement. A novel method for continuous generation of motions from a hidden Markov model (HMM) representation of motion primitives is proposed, which incorporates time information for each state. The proposed methods were implemented and tested using DLR's humanoid upper-body robot Justin.

关键词： programming by demonstration Imitation learning Physical coaching Incremental learning Motion refinement tube Impedance control

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Graphical Definitions: Expanding Spreadsheet Languages through Direct Manipulation and Gestures

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ACM Transactions on Computer-Human Interaction 1998年第1期5卷 1-33页

作者： Burnett, Margaret M. Gottfried, Herkimer J. Department of Computer Science Oregon State University Corvallis OR 97331 United States Hewlett-Packard Company Corvallis 1000 NE Circle Blvd. OR 97330 United States

In the past, attempts to extend the spreadsheet paradigm to support graphical objects, such as colored circles or user-defined graphical types, have led to approaches featuring either a direct way of creating objects graphically or strong compatibility with the spreadsheet paradigm, but not both. This inability to conveniently go beyond numbers and strings without straying outside the spreadsheet paradigm has been a limiting factor in the applicability of spreadsheet languages. In this article we present graphical definitions, an approach that removes this limitation, allowing both simple and complex graphical objects to be programmed directly using direct manipulation and gestures, in a manner that fits seamlessly within the spreadsheet paradigm. We also describe an empirical study, in which subjects programmed such objects faster and with fewer errors using this approach than when using a traditional approach to formula specification. Because the approach is expressive enough to be used with both built-in and user-defined types, it allows the directness of demonstrational and spreadsheet techniques to be used in programming a wider range of applications than has been possible before. © 1998, ACM. All rights reserved.

关键词： Design Direct manipulation Forms/3 Gestures Human Factors Languages programming by demonstration

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Rapid Interweaving of Smart Things with the meSchup IoT Platform 16

Rapid Interweaving of Smart Things with the meSchup IoT Plat...

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ACM International Joint Conference on Pervasive and Ubiquitous Computing (UbiComp) / 20th ACM International Symposium on Wearable Computers (ISWC)

作者： Kubitza, Thomas Schmidt, Albrecht Univ Stuttgart Paffenwaldring 5a Stuttgart Germany

ISBN: (纸本)9781450344623

Although physical prototyping platforms such as Arduino have significantly lowered the barrier for the development of standalone networked smart things, it still remains very challenging to create multi-device environments in which heterogeneous devices collaborate in smart ways to assist their users. However, with the ever growing number of networked smart things in our home, office and public environments it becomes more and more important to practically explore the opportunities that these device ecologies can potentially offer in the future. With meSchup we present an IoT prototyping platform that drastically reduces the effort and time for the creation and exploration of smart multi-device environments. We show a novel interaction script approach that interweaves arbitrary devices in real time and introduce interactive programming by demonstrations features integrated in a single web based IDE. We finally illustrate three exemplary use cases that indicate the wide range of possible applications.

关键词： Internet of Things Middleware Rapid Prototyping Smart Environments programming by demonstration

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Code3: A System for End-to-End programming of Mobile Manipulator Robots for Novices and Experts 17

Code3: A System for End-to-End Programming of Mobile Manipul...

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12th Annual ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Huang, Justin Cakmak, Maya Univ Washington Comp Sci & Engn Seattle WA 98195 USA

ISBN: (纸本)9781450343367

This paper introduces Code3, a system for user-friendly, rapid programming of mobile manipulator robots. The system is designed to let non-roboticists and roboticists alike program end-to-end manipulation tasks. To accomplish this, Code3 provides three integrated components for perception, manipulation, and high-level programming. The perception component helps users define a library of object and scene parts that the robot can later detect. The manipulation component lets users define actions for manipulating objects or scene parts through programming by demonstration. Finally, the high-level programming component provides a drag-and-drop interface with which users can program the logic and control flow to accomplish a task using their previously specified perception and manipulation capabilities. We present findings from an observational user study with non-roboticist programmers (N=10) that demonstrate their ability to quickly learn Code3 and program a PR2 robot to do manipulation tasks. We also demonstrate how the system is expressive enough for an expert to rapidly program highly complex manipulation tasks like playing tic-tac-toe and reconfiguring an object to be graspable.

关键词： programming by demonstration programming tools End-user programming Mobile Manipulation

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Encoding Bi-manual Coordination Patterns From Human demonstrations 14

Encoding Bi-manual Coordination Patterns From Human Demonstr...

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9th ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Pais, Ana Lucia Billard, Aude Ecole Polytech Fed Lausanne Learning Syst & Algorithms Lab CH-1015 Lausanne Switzerland

ISBN: (纸本)9781450326582

Humans perform tasks such as bowl mixing bi-manually, but programming them on a robot can be challenging specially in tasks that require force control or on-line stiffness modulation. In this paper we first propose a user-friendly setup for demonstrating bi-manual tasks, while collecting complementary information on motion and forces sensed on a robotic arm, as well as the human hand configuration and grasp information. Secondly for learning the task we propose a method for extracting task constraints for each arm and coordination patterns between the arms. We use a statistical encoding of the data based on the extracted constraints and reproduce the task using a cartesian impedance controller.

关键词： programming by demonstration Task constraints extraction

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Grasp Taxonomy for Robot Assistants Inferred from Finger Pressure and Flexion

Grasp Taxonomy for Robot Assistants Inferred from Finger Pre...

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International Symposium on Medical Robotics (ISMR)

作者： Abbasi, Bahareh Sharifzadeh, Mehdi Noohi, Ehsan Parastegari, Sina Zefran, Milos Univ Illinois Dept Elect & Comp Engn Chicago IL 60607 USA

ISBN: (纸本)9781538678251

Grasp is an integral part of manipulation actions in activities of daily living and programming by demonstration is a powerful paradigm for teaching the assistive robots how to perform a grasp. Since finger configuration and finger force are the fundamental features that need to be controlled during a grasp, using these variables is a natural choice for learning by demonstration. An important question then becomes whether the existing grasp taxonomies are appropriate when one considers these modalities. The goal of our paper is to answer this question by investigating grasp patterns that can be inferred from a static analysis of the grasp data, as the object is securely grasped. Human grasp data is measured using a newly developed data glove. The data includes pressure sensor measurements from eighteen areas of the hand, and measurements from bend sensors placed at finger joints. The pressure sensor measurements are calibrated and mapped into force by employing a novel data-driven approach. Unsupervised learning is used to identify patterns for different grasp types. Multiple clustering algorithms are used to partition the data. When the results are taken in aggregate, 25 human grasp types are reduced to 9 different clusters.

关键词： Grasp Taxonomy programming by demonstration Unsupervised Learning Ensemble Clustering

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Teaching and learning of robot tasks via observation of human performance

Teaching and learning of robot tasks via observation of huma...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dillmann, R Univ Karlsruhe TH Inst Comp Design & Fault Tolerance D-76128 Karlsruhe Germany

Within this paper, an approach for teaching a humanoid robot is presented that will enable the robot to team typical tasks required in everyday household environments. Our approach, called programming by demonstration, which is implemented and successfully used in our institute to teach a robot system is presented. Firstly, we concentrate on an analysis of human actions and action sequences that can be identified when watching a human demonstrator. Secondly, sensor aid systems are introduced which augment the robot's perception capabilities while watching a human's demonstration and the robot's execution of tasks respectively. The main focus is then layed on the knowledge representation in order to be able to abstract the problem solution strategies and to transfer them onto the robot system. (C) 2004 Elsevier B.V. All rights reserved.

关键词： robot tasks programming by demonstration one-shot-leaming

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AI-Powered Human-Centred Robot Interactions: Challenges in Human-Robot Collaboration Across Diverse Industrial Scenarios 15th

AI-Powered Human-Centred Robot Interactions: Challenges in H...

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15th European Robotics Forum

作者： Fraile, Francisco Akkaladevi, Sharath Chandra Univ Politecn Valencia Valencia Spain Profactor GmbH Stadtgut D1 A-4407 Steyr Gleink Austria

This paper explores the AI-Powered Human-Centred Robot Interactions for Smart Manufacturing (AI-PRISM) project concept, through its various pilot scenarios. Focusing on human centered challenges, we discuss how these ... 详细信息

ISBN: (纸本)9783031764301;9783031764288;9783031764271

关键词： Human-Robot Collaboration AI-Powered Robotics Smart Manufacturing programming by demonstration Industrial Automation

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Intuitive Welding Robot programming via Motion Capture and Augmented Reality 13th

Intuitive Welding Robot Programming via Motion Capture and A...

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13th International-Federation-of-Automatic-Control (IFAC) Workshop on Intelligent Manufacturing Systems (IMS)

作者： Mueller, Fabian Deuerlein, Christian Koch, Michael TH Nurnberg Georg Simon Ohm Dept Mech Engn & Bldg Serv Engn Kesslerpl 12 D-90489 Nurnberg Germany

In this paper the authors present a method to equip small and medium enterprises with a highly flexible product line to automate their production through a robotic welding application. The goal is to program a welding robot offline, similar to manual welding. To create the welding application, the workpiece is placed on a programming table and the welder traces the sheet metal joints with a position tracked pointing device. For simulation of the process, virtual weld seams are simultaneously displayed in the video stream of the Augmented Reality camera. The trajectories of the virtual welds are recorded, converted into executable robot code, loaded onto the robot therefore making an immediate machining of the workpiece possible. With this method, robot programs can be created very quickly, easily and cost-effectively, which makes robot production economical even for mass-individualization. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Industrial robots Augmented reality Welding programming by demonstration Motion capture Off-line robot programming

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A Direct Manipulation programming Environment for Teaching Introductory and Advanced Software Testing 24

A Direct Manipulation Programming Environment for Teaching I...

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24th Koli Calling

作者： Barth, Maximilian Georg Thorgeirsson, Sverrir Su, Zhendong Swiss Fed Inst Technol Zurich Switzerland Swiss Fed Inst Technol Dept Comp Sci Zurich Switzerland

ISBN: (纸本)9798400710384

Despite software testing being an important part of computing education, the subject has not been strongly emphasized in the tertiary-level computing curriculum. This has been attributed to the difficulties involved in teaching the subject, for example because existing tools are difficult to navigate and require students to learn additional programming syntax in order to use them. In this paper, we introduce the new visual programming environment TestVision for learning unit testing and mutation testing in a hands-on, constructivist setting where test cases can be composed and executed via direct manipulation of visual elements rather than by writing code. We conducted a twofold study on the system with tertiary-level students. In the first study, twenty tertiary-level students were asked to complete interactive tutorials within the environment while their screens were recorded. We used the data to develop a taxonomy of the usability errors in the system. In the second study, nine graduate students from a course on software testing were invited to test the system while receiving a lecture on how to use it, after which their feedback was collected via free-form survey responses and the User Experience Questionnaire Plus. According to the results, students perceive the environment as well-designed, easy to use, and a useful tool for learning software testing.

关键词： software testing direct manipulation programming by demonstration tertiary education mutation testing

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