The programming by demonstration paradigm promises to reduce the complexity of robot programming. Its aim is to let robot systems learn new behaviors from a human operator demonstration. In this paper, we argue that w...
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The programming by demonstration paradigm promises to reduce the complexity of robot programming. Its aim is to let robot systems learn new behaviors from a human operator demonstration. In this paper, we argue that while providing demonstrations in the real environment enables teaching of general tasks, for tasks whose essential features are known a priori demonstrating in a virtual environment may improve efficiency and reduce trainer's fatigue. We next describe a prototype system supporting programming by demonstration in a virtual environment and we report results obtained exploiting simple virtual tactile fixtures in pick-and-place tasks. (C) 2004 Elsevier B.V. All rights reserved.
This paper presents a sensor counter approach for a mobile robot to navigate a path using programming by demonstration. In this paper a hybrid method which uses sensor values and counter values as path variables has b...
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This paper presents a sensor counter approach for a mobile robot to navigate a path using programming by demonstration. In this paper a hybrid method which uses sensor values and counter values as path variables has been proposed, in order to avoid the dynamic obstacle in the environment we propose an obstacle avoidance algorithm (OAA) which is merged with hybrid method. Proposed method has been implemented and tested in a mobile robot platform AAMoR-1. Experiments has been done in an real time test environment to find the accuracy of the robot, the robot has been taught a particular trajectory by a human operator and later changing the robot to autonomous mode where in it moves in the same trajectory as taught, obstacle avoidance algorithm has also been tested by adding an obstacle in the taught path. Good test results have been obtained. (C) 2011 Published by Elsevier Ltd. Selection and/or peer-review under responsibility of ICCTSD 2011
Conversational agents are often used to perform tasks on smartphones, but existing conversational agents are limited in capabilities and lack of customizability. My work explores using the programming-by-demonstration...
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ISBN:
(纸本)9781538604434
Conversational agents are often used to perform tasks on smartphones, but existing conversational agents are limited in capabilities and lack of customizability. My work explores using the programming-by-demonstration approach to enable end users to program new tasks for conversational agents by demonstrating using the familiar graphical user interfaces of third-party apps. I propose to use a multi-modal (demonstration and verbal instruction) interface to support generalization, editing, error handling as well as creating control structures in creating such smartphone automation.
programming by demonstration (PbD) has been one of the promising approaches to robot programming, where a robot learns how to operate by observing human demonstrations. While most of existing PhD research dealt with s...
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ISBN:
(纸本)9781467396752
programming by demonstration (PbD) has been one of the promising approaches to robot programming, where a robot learns how to operate by observing human demonstrations. While most of existing PhD research dealt with single-agent tasks, this paper deals with collaborative tasks, in which a robot and a human collaborate to assemble a structure by coordinating their operations. The system has three parts: demonstration observation parts, task modeling parts, and task execution parts. A scene recognition system is developed for reliable action recognition in human demonstrations. The developed PbD system has successfully been applied to a collaborative assembly tasks with more than twenty assembly steps.
The advanced manufacturing capabilities such as robot arms, sensors, and software can create a safe, dynamic, and real-time decision-making for a collaborative working environment between humans and robots. The curren...
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The advanced manufacturing capabilities such as robot arms, sensors, and software can create a safe, dynamic, and real-time decision-making for a collaborative working environment between humans and robots. The current paper presents a human-robot collaboration system to be applied in a furniture painting cell. The aim is to increase the level of automatization of the painting process and minimize the repetitive operations performed in the conventional manual painting process. The use of autonomous robot arms, programmed by demonstration, will reduce the worker exposure time to chemicals employed in the painting process and minimize the repetitive movements performed during manual painting, which will improve human safety. Current research aims to define a framework where humans and robots can share the working area simultaneously thanks to integrating several systems to control the working environment, the robot arm, and the operation, summarizing current technologies' main challenges to achieve a symbiotic collaboration painting cell.
Productivity and flexibility are antagonists with opposite goals. Until now, optimal productivity could only be achieved in fully automated inflexible serial production. Increased demand for flexibility due to individ...
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Productivity and flexibility are antagonists with opposite goals. Until now, optimal productivity could only be achieved in fully automated inflexible serial production. Increased demand for flexibility due to individualized products e.g. in most SMEs requires an increased level of flexibility - also for robots that should provide improved skills as well as improved means of interaction to simplify programming. Instrumented tools based on 3D tracking technology can be used as interfaces in programming by demonstration (PbD) scenarios but are prone to inaccuracies introduced by human demonstration. This paper presents a programming paradigm that combines a semantic model based geometric reasoning paradigms with an instrumented tool based PbD approach in order to compensate those introduced inaccuracies as well as investigates basic accuracies of demonstration of point based operations. (C) 2021 The Authors. Published by Elsevier Ltd.
In this paper, a problem of visual programming of PLC (programmable logic controller) devices is described. A programming by demonstration method is developed so that a problem-domain expert can program such devices w...
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ISBN:
(纸本)9781424400225
In this paper, a problem of visual programming of PLC (programmable logic controller) devices is described. A programming by demonstration method is developed so that a problem-domain expert can program such devices without computer programming skill. The method is novel in the sense that, unlike other programming-by-demonstration methods, it requires little a priori knowledge of the controlled system model, nor it needs to interact with a real system. A simulation model, which captures the laws of nature governing the system behavior, is jointly programmed with a control device (PLC). A PLC programming tool, developed based on the proposed joint controller-simulator programming by demonstration paradigm, can generate a high-level structure text program code, from the demonstrated actions as performed by a user.
programming by demonstration empowers robot operators to program robots without coding. This approach finds particular relevance in scenarios involving repetitive assembly processes composed of similar components arra...
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programming by demonstration empowers robot operators to program robots without coding. This approach finds particular relevance in scenarios involving repetitive assembly processes composed of similar components arranged in patterns. In industrial environments with limited CAD data, like SMEs, point cloud data from scans serves as a practical starting point for further investigations. Recognizing component patterns within point clouds and analyzing demonstrated actions in specific areas are vital for guiding robots in automation tasks. Our work introduces innovative methods designed to identify patterns within point clouds, enabling the efficient analysis of demonstrated actions and their subsequent execution by robotic systems. A primary focus of our approach is the computation of similarities within point clouds, a crucial step in pinpointing regions suitable for repetitive actions. We are particularly intrigued by primitive-based patterns, as these representations align closely with industrial object surfaces. Given the prevalence of geometric representations in industry, recognizing recurring geometries through primitive-based descriptions represents a pertinent research objective. We present the problem within a practical application context and explore the feasibility of comprehensively identifying recurrent geometries using primitive-based features.
A key challenge for generalizing programming-by-demonstration (PBD) scripts is the data description problem - when a user demonstrates performing an action, the system needs to determine features for describing this a...
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ISBN:
(纸本)9781538642351
A key challenge for generalizing programming-by-demonstration (PBD) scripts is the data description problem - when a user demonstrates performing an action, the system needs to determine features for describing this action and the target object in a way that can reflect the user's intention for the action. However, prior approaches for creating data descriptions in PBD systems have problems with usability, applicability, feasibility, transparency and/or user control. Our APPINITE system introduces a multi-modal interface with which users can specify data descriptions verbally using natural language instructions. APPINITE guides users to describe their intentions for the demonstrated actions through mixed-initiative conversations. APPINITE constructs data descriptions for these actions from the natural language instructions. Our evaluation showed that APPINITE is easy-to-use and effective in creating scripts for tasks that would otherwise be difficult to create with prior PBD systems, due to ambiguous data descriptions in demonstrations on GUIs.
This paper presents a method of programming by demonstration, aiming at instructing the manipulator to accomplish tasks with obstacles in the way or with strict motion paths. Least square support vector machine (LS-SV...
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ISBN:
(纸本)9783319228730;9783319228723
This paper presents a method of programming by demonstration, aiming at instructing the manipulator to accomplish tasks with obstacles in the way or with strict motion paths. Least square support vector machine (LS-SVM), based on the principle of structure risk minimization, is employed to achieve better generalization and reproduced trajectories with higher accuracy. Furthermore, the velocity field method is applied to maintain the convergence of reproduced trajectories and smooth the motion. Finally, a series of obstacle avoidance experiments with a 7-DOF manipulator are conducted to verify the feasibility of the proposed method.
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