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检索条件"主题词=Programming by Demonstration"

共 235 条记录，以下是171-180 订阅

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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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Reactile: programming Swarm User Interfaces through Direct Physical Manipulation

Reactile: Programming Swarm User Interfaces through Direct P...

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CHI Conference on Human Factors in Computing Systems (CHI)

作者： Suzuki, Ryo Kato, Jun Gross, Mark D. Yeh, Tom Univ Colorado Boulder Boulder CO 80309 USA Natl Inst Adv Ind Sci & Technol Tsukuba Ibaraki Japan

ISBN: (纸本)9781450356206

We explore a new approach to programming swarm user interfaces (Swarm UI) by leveraging direct physical manipulation. Existing Swarm UI applications are written using a robot programming framework: users work on a computer screen and think in terms of low-level controls. In contrast, our approach allows programmers to work in physical space by directly manipulating objects and think in terms of high-level interface design. Inspired by current UI programming practices, we introduce a four-step workflow create elements, abstract attributes, specify behaviors, and propagate changes for Swarm UI programming We propose a set of direct physical manipulation techniques to support each step in this workflow. To demonstrate these concepts, we developed Reactile, a Swarm UI programming environment that actuates a swarm of small magnets and displays spatial information of program states using a DLP projector. Two user studies-an in-class survey with 148 students and a lab interview with eight participants confirm that our approach is intuitive and understandable for programming Swarm UIs.

关键词： swarm user interfaces tangible programming programming by demonstration direct manipulation

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Poster: Prototyping Natural Interactions in Virtual Studio Environments by demonstration - Combining Spatial Mapping with Gesture Following

Poster: Prototyping Natural Interactions in Virtual Studio E...

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IEEE Symposium on 3D User Interface

作者： Marinos, Dionysios Woeldecke, Bjoern Geiger, Chris Univ Appl Sci Dusseldorf Dusseldorf Germany

ISBN: (纸本)9781467360982

In this work, a rapid prototyping approach for natural real-time interactions in virtual studio environments was used, in order to facilitate the creation of an interactive virtual robotic arm, that could be controlled by hand movements in a natural manner. The approach focuses on tracking a person and manipulating control parameters as a way of steering interactions. It has two main aspects. The first one is the authoring of spatial relationships between the person and the virtual environment. The second aspect is the use of gesture following to synchronize various animations or event sequences inside the virtual environment to the corresponding person's movements. Both aspects allow for a programming-by-demonstration approach and, combined, enable developers to rapidly create interactions by providing examples directly inside the blue or green box of the virtual studio.

关键词： Virtual studio interaction prototyping interaction authoring mapping gesture following programming by demonstration

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DIY Assistant: A Multi-modal End-User Programmable Virtual Assistant 2021

DIY Assistant: A Multi-modal End-User Programmable Virtual A...

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42nd ACM SIGPLAN International Conference on programming Language Design and Implementation (PLDI)

作者： Fischer, Michael H. Campagna, Giovanni Choi, Euirim Lam, Monica S. Stanford Univ Stanford CA 94305 USA

ISBN: (纸本)9781450383912

While Alexa can perform over 100,000 skills, its capability covers only a fraction of what is possible on the web. Individuals need and want to automate a long tail of web-based tasks which often involve visiting different websites and require programming concepts such as function composition, conditional, and iterative evaluation. This paper presents diya (Do-It-Yourself Assistant), a new system that empowers users to create personalized web-based virtual assistant skills that require the full generality of composable control constructs, without having to learn a formal programming language. With DIYA, the user demonstrates their task of interest in the browser and issues a few simple voice commands, such as naming the skills and adding conditions on the action. diya turns these multi-modal specifications into voice-invocable skills written in the ThingTalk 2.0 programming language we designed for this purpose. diya is a prototype that works in the Chrome browser. Our user studies show that 81% of the proposed routines can be expressed using diya. diya is easy to learn, and 80% of users surveyed find diya useful.

关键词： end-user programming programming by demonstration web automation voice user interfaces virtual assistants

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A Reconfigurable Pick-Place System Under Robot Operating System 11th

A Reconfigurable Pick-Place System Under Robot Operating Sys...

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11th International Conference on Intelligent Robotics and Applications (ICIRA)

作者： Ding, Cheng Wu, Jianhua Xiong, Zhenhua Liu, Chao Shanghai Jiao Tong Univ 800 Dongchuan Rd Shanghai 200240 Peoples R China

ISBN: (纸本)9783319975894;9783319975887

Pick-place systems are normally programmed manually to finish a task. If work changes, the system has to be reprogrammed which is cumbersome and time-consuming. This paper takes advantage of programming by demonstration (PbD) concept to simplify the programming process. Specifically, we designed a pick-place system under robot operating system (ROS) which could track the teacher's demonstration via object detection and estimate the 6D pose of the object through iterative closest point algorithm. Then the robot could imitate the task through a PbD technique, symbolic reasoning. The experiment shows that the system is reconfigurable and a new pick-place task could be programmed in thirty seconds.

关键词： programming by demonstration Robot operating system Pick-place

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Intuitive, iterative and assisted virtual guides programming for human-robot comanipulation

Intuitive, iterative and assisted virtual guides programming...

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作者： Susana Sanchez Restrepo Universite Toulouse 3 Paul Sabatier (UT3 Paul Sabatier)

学位级别：博士

For a very long time, automation was driven by the use of tra- ditional industrial robots placed in cages, programmed to repeat more or less complex tasks at their highest speed and with maximum accuracy. This robot-oriented solution is heavily dependent on hard automation which requires pre-specified fixtures and time consuming programming, hindering robots from becoming flexible and versatile tools. These robots have evolved towards a new generation of small, inexpensive, inherently safe and flexible systems that work hand in hand with humans. In these new collaborative workspaces the human can be included in the loop as an active agent. As a teacher and as a co-worker he can influence the decision-making process of the robot. In this context, virtual guides are an important tool used to assist the human worker by reducing physical effort and cognitive overload during tasks accom- plishment. However, the construction of virtual guides often requires expert knowledge and modeling of the task. These limitations restrict the usefulness of virtual guides to scenarios with unchanging constraints. To overcome these challenges and enhance the flexibility of virtual guides programming, this thesis presents a novel approach that allows the worker to create virtual guides by demonstration through an iterative method based on kinesthetic teaching and displacement splines. Thanks to this approach, the worker is able to iteratively modify the guides while being assisted by them, making the process more intuitive and natural while reducing its painfulness. Our approach allows local refinement of virtual guiding trajectories through physical interaction with the robots. We can modify a specific cartesian keypoint of the guide or re-demonstrate a portion. We also extended our approach to 6D virtual guides, where displacement splines are defined via Akima interpolation (for translation) and quadratic interpolation of quaternions (for orientation). The worker can initially define a

关键词： Virtual guides programming by demonstration collaborative robotics comanipulation

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Enabling Rapid End-to-End programming of Mobile Manipulators 12

Enabling Rapid End-to-End Programming of Mobile Manipulators

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

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

ISBN: (纸本)9781450348850

programming mobile manipulator robots requires specialized knowledge of robot perception, manipulation, and software frameworks. This puts robot programming out of reach for programmers who have not invested the time to learn these skills. The goal of our research is to make it possible for all programmers to develop applications for mobile manipulators such as clearing a table, fetching items, or playing games with people. This extended abstract describes our current work on Code3, a framework that all programmers can use to program robots. A user study we conducted showed that non-roboticist programmers were able to use our system to program a PR2 robot to clear a table and retrieve snacks. We also discuss our plans to extend this system to make it more useful and usable for real-world use cases.

关键词： end-user programming mobile manipulation programming by demonstration programming tools

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An Intuitive Robot Learning from Human demonstration 11th

An Intuitive Robot Learning from Human Demonstration

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11th International Conference on Intelligent Robotics and Applications (ICIRA)

作者： Ogenyi, Uchenna Emeoha Zhang, Gongyue Yang, Chenguang Ju, Zhaojie Liu, Honghai Univ Portsmouth Sch Comp Portsmouth Hants England Swansea Univ Coll Engn Swansea W Glam Wales

ISBN: (纸本)9783319975863;9783319975856

This paper presents a new way to teach a robot certain motions remotely from human demonstrator. The human and robot interface is built using a Kinect sensor which is connected directly to a remote computer that runs on processing software. The Cartesian coordinates are extracted, converted into joint angles and sent to the workstation for the control of the Sawyer robot. Kinesthetic teaching was used to correct the reproduced demonstrations while only valid resolved joint angles are recorded to ensure consistence in the sent data. The recorded dataset is encoded using GMM while GMR was employed to extract and reproduce generalised trajectory with respect to the associated time-step. To evaluate the proposed approach, an experiment for a robot to follow a human arm motion was performed. This proposed approach could help non-expert users to teach a robot how to perform assembling task in more human like ways.

关键词： programming by demonstration Learning from demonstration Learning by imitation

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Automatic Diagnosis of Students' Misconceptions in K-8 Mathematics

Automatic Diagnosis of Students' Misconceptions in K-8 Mathe...

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CHI Conference on Human Factors in Computing Systems (CHI)

作者： Feldman, Molly Q. Cho, Ji Yong Ong, Monica Gulwani, Sumit Popovic, Zoran Andersen, Erik Cornell Univ Dept Comp Sci Ithaca NY 14853 USA Univ Penn Dept Comp & Informat Sci Philadelphia PA 19104 USA Microsoft Res Redmond Redmond WA USA Univ Washington Paul G Allen Sch Comp Sci & Engn Seattle WA 98195 USA Cornell Univ Ithaca NY 14853 USA

ISBN: (纸本)9781450356206

K-8 mathematics students must learn many procedures, such as addition and subtraction. Students frequently learn "buggy" variations of these procedures, which we ideally could identify automatically. This is challenging because there are many possible variations that reflect deep compositions of procedural thought. Existing approaches for K-8 math use manually specified variations which do not scale to new math algorithms or previously unseen misconceptions. Our system examines students' answers and infers how they incorrectly combine basic skills into complex procedures. We evaluate this approach on data from approximately 300 students. Our system replicates 86% of the answers that contain clear systematic mistakes (13%). Investigating further, we found 77% at least partially replicate a known misconception, with 53% matching exactly. We also present data from 29 participants showing that our system can demonstrate inferred incorrect procedures to an educator as successfully as a human expert.

关键词： programming by demonstration elementary education

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Qualification of a collaborative human-robot welding cell 48

Qualification of a collaborative human-robot welding cell

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48th CIRP International Conference on Manufacturing Systems (CIRP CMS)

作者： Antonelli, Dario Astanin, Sergey Politecn Torino DIGEP Corso Duca Abruzzi 24 I-10129 Turin Italy

This work is focused on evaluating performance of a collaborative robot welding cell developed in our previous research. Such a cell is based on an interactive cooperation between a human supervisor and a welding robot. This approach to organizing a workstation allows to employ robots even in the case of prototypes or small productions. Research on collaborative robots usually focuses on safety issues and on the programming techniques. Present work deals with a complementary problem crucial to industrial applications: the qualification of the welding cell performance in terms of accuracy, repeatability and dependability. In this application, the human worker is responsible for handling of the parts to be assembled and for teaching the robot. The robot is in charge of actual welding. Teaching is executed by demonstration: the teacher shows the welding trajectories with a pointer observed by a motion capture system. The program is generated automatically and executed by the robot. Robots and humans share the same workspace in different times therefore human risk exposure is minimal. Industrial applications of this or similar technology require that the process reliability and capability be assessed. We describe and analyze error accumulation along the entire data flow from the measurement tool, through the reference system transformations, to the actual representation and execution of the robot program. (C) 2015 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/).

关键词： Welding Robot Accuracy and Precision programming by demonstration

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