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检索条件"主题词=Programming by Demonstration"

共 234 条记录，以下是21-30 订阅

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Sensor Counter Approach for a Mobile Robot to Navigate a Path Using programming by demonstration

Sensor Counter Approach for a Mobile Robot to Navigate a Pat...

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International Conference on Communication Technology and System Design

作者： Kumaar, A. A. Nippun Sudarshan, T. S. B. Amrita Vishwa Vidyapeetham Dept Comp Sci Sch Engn Bangalore 560035 Karnataka India

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

关键词： Mobile Robots programming by demonstration Sensor Counter approach Trajectory

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End User Mobile Task Automation using Multimodal programming by demonstration

End User Mobile Task Automation using Multimodal Programming...

引用

IEEE Symposium on Visual Languages and Human-Centric Computing (VL/HCC)

作者： Li, Toby Jia-Jun Carnegie Mellon Univ Human Comp Interact Inst Pittsburgh PA 15213 USA

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.

关键词： programming by demonstration end user development task automation SUGILITE

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A programming by demonstration System for Human-Robot Collaborative Assembly Tasks

A Programming by Demonstration System for Human-Robot Collab...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Hamabe, Takuma Goto, Hiraki Miura, Jun Toyohashi Univ Technol Dept Comp Sci & Engn Toyohashi Aichi Japan

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.

关键词： programming by demonstration collaborative assembly humanoid

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On the Development of programming by demonstration Environment for Human-Robot Collaboration in a Furniture Painting Cell 15th

On the Development of Programming by Demonstration Environme...

引用

15th European Robotics Forum

作者： Lariol, Joan Fraile, Francisco Ioana, Emima Blanes, Francisco Univ Politecn Valencia Res Ctr Prod Management & Engn CIGIP Camino Vera S-N Valencia 46022 Spain Univ Politecn Valencia Automat & Ind Informat Res Inst Ai2 Camino Vera S-N Valencia 46022 Spain

ISBN: (纸本)9783031764301;9783031764288;9783031764271

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.

关键词： Collaborative robotics programming by demonstration Industry 4.0 Smart manufacturing

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Knowledge Based Accuracy Improvement in programming by demonstration of Point Based Processes 30th

Knowledge Based Accuracy Improvement in Programming by Demon...

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30th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM)

作者： Ikeda, Markus Chitturi, Naresh Ganglbauer, Markus Pichler, Andreas PROFACTOR GmbH Stadtgut D1 AT-4407 Steyr Gleink Austria

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.

关键词： knowledge based robotics virtual reality mixed reality programming by demonstration human robot interaction

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A joint controller-simulator programming by demonstration method for PLC devices

A joint controller-simulator programming by demonstration me...

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IEEE Conference on Cybernetics and Intelligent Systems

作者： Changsakol, Phissanu Chotikakamthorn, Nopporn Wongwirat, Olam King Mogkuts Inst Technol Ladkrabang Fac Informat Technol Bangkok Thailand

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.

关键词： programming by demonstration programmable logic controller programming paradigm end-user programming

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Exploitation of Similarities in Point Clouds for Simplified Robot programming by demonstration 15th

Exploitation of Similarities in Point Clouds for Simplified ...

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15th European Robotics Forum

作者： Mohl, Philipp Ikeda, Markus Hofmann, Michael Pichler, Andreas Profactor GmbH Stadtgut D1 A-4407 Steyr Gleink Austria

ISBN: (纸本)9783031764264;9783031764240;9783031764233

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.

关键词： Geometric reasoning programming by demonstration point cloud deep learning human machine interaction

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APPINITE: A Multi-Modal Interface for Specifying Data Descriptions in programming by demonstration Using Natural Language Instructions

APPINITE: A Multi-Modal Interface for Specifying Data Descri...

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IEEE Symposium on Visual Languages and Human-Centric Computing (VL/HCC)

作者： Li, Toby Jia-Jun Labutov, Igor Li, Xiaohan Nancy Zhang, Xiaoyi Shi, Wenze Ding, Wanling Mitchell, Tom M. Myers, Brad A. Carnegie Mellon Univ HCI Inst Pittsburgh PA 15213 USA Carnegie Mellon Univ Machine Learning Dept Pittsburgh PA 15213 USA Carnegie Mellon Univ Comp Sci Dept Pittsburgh PA 15213 USA Carnegie Mellon Univ Informat Syst Dept Pittsburgh PA 15213 USA Univ Washington Comp Sci & Engn Seattle WA 98195 USA

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.

关键词： programming by demonstration end user development verbal instruction multi-modal interaction natural language programming

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An Incremental Feature Set Refinement in a programming by demonstration Scenario 4

An Incremental Feature Set Refinement in a Programming by De...

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4th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Hoai Luu-Duc Miura, Jun Toyohashi Univ Technol Dept Comp Sci & Engn Toyohashi Aichi Japan

ISBN: (纸本)9781728100647

In transferring knowledge from human to robot using programming by demonstration (PbD), choosing features which can represent the instructor demonstrations is an essential part of robot learning. With a relevant set of features, the robot can not only have a better performance but also decrease the learning cost. In this work, the feature selection method is proposed to help the robot determine which subset of the features is relevant to represent a task in PbD framework. We implement an experimental PbD system for a simple task as proofing our concept as well as showing the preliminary results.

关键词： Human-Robot Interaction programming by demonstration Feature Selection

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A programming by demonstration with Least Square Support Vector Machine for Manipulators 8th

A Programming by Demonstration with Least Square Support Vec...

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8th International Conference on Intelligent Robotics and Applications (ICIRA)

作者： Zhao, Jingdong Li, Chongyang Jiang, Zainan Liu, Hong Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China

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.

关键词： programming by demonstration LS-SVM Velocity field method Obstacle avoidance

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