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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Phung, A. S. Malzahn, J. Hoffmann, F. Bertram, T. Tech Univ Dortmund Inst Control Theory & Syst Engn D-44221 Dortmund Germany

ISBN: (纸本)9781467321273;9781467321259

Visual feedback allows controlling the relative pose between the camera and an object of unknown pose. This paper presents an approach to reproduce and generalize a movement from demonstrations based on visual feedback from an eye-in-hand camera mounted to the end effector. The main advantage of the approach is that no robot is required during the demonstration phase which is tool rather than robot centered. The teacher merely demonstrates the movement either with the camera alone or the camera attached to the tool that is required for the task. This method simplifies the demonstration in comparison to kinesthetic teaching that requires a compliant arm for motion recording. The accuracy and precision of the demonstration is enhanced as the teacher does not have to overcome the inertial and frictional forces of the arm while handling the end-effector in conjunction with the tool. The movement pattern in terms of translation and rotation of the camera with respect to the goal pose is described by dynamic movement primitives (DMP). Learning from demonstration is applied to straight point-to-point and more complex trajectories. The reproduced trajectories reveal a high precision independent from the object pose and the approach is confirmed by an experiment with a five degree-of-freedom (DOF) robot.

关键词： Learning from demonstration programming by demonstration visual servoing

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Repeat and predict - Two keys to efficient text editing 94

Repeat and predict - Two keys to efficient text editing

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CHI 94 Conference - Human Factors in Computing Systems: Celebrating Interdependence

作者： MASUI, T NAKAYAMA, K SHARP CO LTD SOFTWARE LABSTENRINARA 632JAPAN

No abstract available.

ISBN: (纸本)0201765578

No abstract available.

关键词： TEXT EDITING PREDICTIVE INTERFACE programming BY EXAMPLE PBE programming by demonstration PBD KEYBOARD MACRO DYNAMIC MACRO CREATION

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How to Deploy a Wire with a Robotic Platform: Learning from Human Visual demonstrations

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Procedia Manufacturing 2017年 11卷 224-232页

作者： Stival, Francesca Michieletto, Stefano Pagello, Enrico Intelligent Autonomous Systems Lab (IAS-Lab) Department of Information Engineering (DEI) University of Padova Italy

In this paper, we address the problem of deploying a wire along a specific path selected by an unskilled user. The robot has to learn the selected path and pass a wire through the peg table by using the same tool. The main contribution regards the hybrid use of Cartesian positions provided by a learning procedure and joint positions obtained by inverse kinematics and motion planning. Some constraints are introduced to deal with non-rigid material without breaks or knots. We took into account a series of metrics to evaluate the robot learning capabilities, all of them over performed the targets. © 2017 The Authors

关键词： Industry 4.0 Inverse Kinematics Manipulators programming by demonstration Robot learning

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Human Hand Motion Recognition Using Empirical Copula

Human Hand Motion Recognition Using Empirical Copula

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Ju, Zhaojie Liu, Honghai Univ Portsmouth Intelligent Syst & Biomed Robot Grp Sch Creat Technol Portsmouth PO1 2DJ Hants England

ISBN: (纸本)9781424466757

programming by demonstration (PbD) enables robotic hands to learn human manipulation skills through storing motion primitives and recognizing motion types. In this paper, Empirical Copula is introduced to recognize dynamic human hand motions for the first time using the proposed motion template and matching algorithm. The huge computational cost of Empirical Copula is alleviated by the proposed re-sampling processing. The experiments with human hand motions including grasps and in-hand manipulations demonstrate Empirical Copula outperforms the Time Clustering (TC) method, Gaussian Mixture Models (GMMs) and Hidden Markov Models (HMMs) in terms of recognition rate. In addition, Empirical Copula is also proved to be able to recognize different motions from different subjects.

关键词： Gaussian mixture model automatic programming empirical copula hidden Markov model hidden Markov models human hand motion recognition human manipulation skill matching algorithm motion estimation motion template programming by demonstration resampling processing

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On-Line Learning and Planning in a Pick-and-Place Task Demonstrated Through Body Manipulation

On-Line Learning and Planning in a Pick-and-Place Task Demon...

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IEEE International Conference on Development and Learning (ICDL)

作者： de Rengerve, Antoine Hirel, Julien Andry, Pierre Quoy, Mathias Gaussier, Philippe Univ Cergy Pontoise ENSEA CNRS ETIS F-95000 Cergy Pontoise France

ISBN: (纸本)9781612849904

When a robot is brought into a new environment, it has a very limited knowledge of what surrounds it and what it can do. One way to build up that knowledge is through exploration but it is a slow process. programming by demonstration is an efficient way to learn new things from interaction. A robot can imitate gestures it was shown through passive manipulation. Depending on the representation of the task, the robot may also be able to plan its actions and even adapt its representation when further interactions change its knowledge about the task to be done. In this paper we present a bio-inspired neural network used in a robot to learn arm gestures demonstrated through passive manipulation. It also allows the robot to plan arm movements according to activated goals. The model is applied to learning a pick-and-place task. The robot learns how to pick up objects at a specific location and drop them in two different boxes depending on their color. As our system is continuously learning, the behavior of the robot can always be adapted by the human interacting with it. This ability is demonstrated by teaching the robot to switch the goals for both types of objects.

关键词： Green products Joints Lead Motor drives Robots Sorting automatic programming bio-inspired neural network body manipulation neural nets online learning passive manipulation pick-and-place task planning programming by demonstration robot programming

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A Review of Intuitive Robot programming Environments for Educational Purposes 3

A Review of Intuitive Robot Programming Environments for Edu...

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3rd IEEE Colombian Conference on Automatic Control (CCAC)

作者： Bravo, Flor A. Gonzalez, Alejandra M. Gonzalez, Enrique Pontificia Univ Javeriana Engn Sch Bogota Colombia Pontificia Univ Javeriana Engn Bogota Colombia

ISBN: (纸本)9781538603987

This paper examines the main robot programming strategies and how they are used in the educational context. We analyze the advantages and drawbacks of the most common programming strategies in educational robotics such as textual, visual, and tangible based programming. Additionally, it explores the approach of programming by demonstrations PbD in an educational context. We identify the main PbD techniques, such as demonstrations through manipulation of the body of the learner robot or a model of the robot, demonstrations through the body motions of a human o robot teacher, demonstrations through the behavior of an object, among others. The paper also identifies the programming techniques that allow non programmers to create a robot program easily. Furthermore, we present research opportunities of intuitive robot programming in an educational context. Currently, the scope and impact of robot-based activities have primarily focused on the teaching and learning of technical subjects. In this paper, we discuss some characteristics that robot programming environments should have to facilitate the integration of educational robotics in the learning and teaching processes of non-technical school subjects.

关键词： Robot programming intuitive programming educational robotics visual programming languages textual programming languages tangible programming programming by demonstration

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A Teaching Assistant for Algorithm Construction 15

A Teaching Assistant for Algorithm Construction

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ACM Conference on Innovation and Technology in Computer Science Education (ITiCSE)

作者： Frison, Patrice Univ Bretagne Sud IRISA Campus Tohann F-56000 Vannes France

ISBN: (纸本)9781450334402

This paper describes a method and a tool that allows a teacher to interactively explain and construct basic algorithms to novice programmers by direct manipulations of variables, indexes and arrays. The method consists in gradually creating a program with the assistance of a tool that captures the teachers actions on the fly. The system offers possibilities for recording a sequence of actions and replaying them. Moreover it is able to take care of conditional statements, as well as loops and macro operations. The tool generates the corresponding program code. As a result, a complete algorithm can be designed and executed without writing a single line of code.

关键词： Algorithm visualization Direct manipulation Novice programming environment programming by demonstration

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FrameWire: A Tool for Automatically Extracting Interaction Logic from Paper Prototyping Tests 10

FrameWire: A Tool for Automatically Extracting Interaction L...

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28th Annual CHI Conference on Human Factors in Computing Systems

作者： Li, Yang Cao, Xiang Everitt, Katherine Dixon, Morgan Landay, James A. Univ Washington DUB Inst Seattle WA 98195 USA Microsoft Res Cambridge England

ISBN: (纸本)9781605589299

Paper prototyping offers unique affordances for interface design. However, due to its spontaneous nature and the limitations of paper, it is difficult to distill and communicate a paper prototype design and its user test findings to a wide audience. To address these issues, we created FrameWire, a computer vision-based system that automatically extracts interaction flows from the video recording of paper prototype user tests. Based on the extracted logic, FrameWire offers two distinct benefits for designers: a structural view of the video recording that allows a designer or a stakeholder to easily distill and understand the design concept and user interaction behaviors, and automatic generation of interactive HTML-based prototypes that can be easily tested with a larger group of users as well as "walked through" by other stakeholders. The extraction is achieved by automatically aggregating video frame sequences into an interaction flow graph based on frame similarities and a designer-guided clustering process. The results of evaluating FrameWire with realistic paper prototyping tests show that our extraction approach is feasible and FrameWire is a promising tool for enhancing existing prototyping practice.

关键词： Paper prototyping programming by demonstration

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MONDRIAN - A TEACHABLE GRAPHICAL EDITOR 93

MONDRIAN - A TEACHABLE GRAPHICAL EDITOR

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International Conference on Human-Computer Interaction (INTERCHI 93)

作者： LIEBERMAN, H MIT MEDIA LABCAMBRIDGEMA 02139

ISBN: (纸本)9051991339

Mondrian is an object-oriented graphical editor that can learn new graphical procedures through programming by demonstration. A user can demonstrate a sequence of graphical editing commands on a concrete example to illustrate how the new procedure should work. An interface agent records the steps of the procedure in a symbolic form, using machine learning techniques, tracking relationships between graphical objects and dependencies among the interface operations. The agent generalizes a program that can then be used on “analogous” examples. The generalization heuristics set it apart from conventional “macros” that can only repeat an exact sequence of steps. The system represents user-defined operations using pictorial “storyboards” of examples. By bringing the power of procedural programming to easy-to-use graphical interfaces, we hope to break down the “Berlin Wall” that currently exists between computer users and computer programmers.

关键词： programming by demonstration MACHINE LEARNING ARTIFICIAL INTELLIGENCE GRAPHICAL EDITING END-USER programming DIRECT-MANIPULATION INTERFACES

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An Automatic Behavior Toolkit for a Virtual Character

An Automatic Behavior Toolkit for a Virtual Character

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International Conference on Multimedia, Computer Graphics and Broadcasting (MulGraB 2011)

作者： Sung, Yunsick Cho, Kyungeun Dongguk Univ Dept Multimedia Engn 26 Pil Dong 3 Ga Seoul 100715 South Korea Dongguk Univ Grad Sch Dept Game Engn Seoul 100715 South Korea

ISBN: (纸本)9783642272035

Approaches that apply programming by demonstration (PhD) to automatically generate the behaviors of virtual characters have been actively studied. One of PbD directly delivers the knowledge of a predecessor to the virtual character. Therefore, a virtual character learns the behaviors to be executed by observing the behaviors of a predecessor. All consecutive actions are derived from the actions collected as behaviors. The behaviors to be executed are selected from defined behaviors using the Maximin Selection algorithm. However, these approaches collect a large amount of data in real time. Therefore, the amount of data significantly increases, and their analysis becomes difficult. This paper proposes a toolkit that employs PbD to automatically generate the behaviors of virtual characters based on those of a predecessor. Furthermore, an approach to manage and analyze the collected data is described. On the basis of the results of an experiment, it was verified that the proposed toolkit could generate a script of the behaviors of virtual characters for driving in a car simulation.

关键词： Behavior Toolkit programming by demonstration Virtual Character Agent Framework

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