Trajectory simplification is a problem encountered in areas like Robot programming by demonstration, CAD/CAM, computer vision, and in GPS-based applications like traffic analysis. This problem entails reduction of the...
详细信息
ISBN:
(纸本)9781509008735
Trajectory simplification is a problem encountered in areas like Robot programming by demonstration, CAD/CAM, computer vision, and in GPS-based applications like traffic analysis. This problem entails reduction of the points in a given trajectory while keeping the relevant points which preserve important information. The benefits include storage reduction, computational expense, while making data more manageable. Common techniques formulate a minimization problem to be solved, where the solution is found iteratively under some error metric, which causes the algorithms to work in super-linear time. We present an algorithm called FastSTray, which selects the relevant points in the trajectory in linear time by following an "open loop" heuristic approach. While most current trajectory simplification algorithms are tailored for GPS trajectories, our approach focuses on smooth trajectories for robot programming by demonstration recorded using motion capture systems. Two variations of the algorithm are presented: 1) aims to preserve shape and temporal information;2) preserves only shape information. Using the points in the simplified trajectory we use cubic splines to interpolate between these points and recreate the original trajectory. The presented algorithm was tested on trajectories recorded from a hand-tracking system. It was able to eliminate about 90% of the points in the original trajectories while maintaining errors between 0.78-2cm which corresponds to 1%-2.4% relative error with respect to the bounding box of the trajectories.
In robot programming by demonstration, we hypothesize that in a class of procedural tasks where the end goal primarily consists of the states of objects that are external to a task performer, one can significantly red...
详细信息
ISBN:
(纸本)9783319208169;9783319208152
In robot programming by demonstration, we hypothesize that in a class of procedural tasks where the end goal primarily consists of the states of objects that are external to a task performer, one can significantly reduce complexity of a robot learner by not processing a human demonstrator's motions at all. In this class of tasks, object behaviors are far more critical than human behaviors. Based on this virtual demonstrator hypothesis, this paper presents a paradigm where a human demonstrates an object manipulation task in a simulated world without any of the human demonstrator's body parts being sensed by a robot learner. Based on the object movements alone, the robot learns to perform the same task in the physical world. These results provide strong support for the virtual demonstrator hypothesis.
Nowadays, industrial robots are still commonly programmed using essentially off-line tools, such as is the case of structured languages or simulated environments. This is a very time-consuming process, which necessari...
详细信息
ISBN:
(纸本)9781728170787
Nowadays, industrial robots are still commonly programmed using essentially off-line tools, such as is the case of structured languages or simulated environments. This is a very time-consuming process, which necessarily requires the presence of an experienced programmer with technical knowledge of the set-up to be used, as well as a concept and a complete definition of the details associated with the operations. Moreover, considering some industrial applications such as coating, painting, and polishing, which commonly require the presence of highly skilled shop floor operators, the translation of this human craftsmanship into robot language using the available programming tools is still a very difficult task. In this regard, this paper presents a programming by demonstration solution, that allows a skilled shop floor operator to directly teach the industrial robot. The proposed system is based on the 6D Mimic innovative solution, endowed with an IMU sensor as to enable the system to tolerate temporary occlusions of the 6D Marker. Results show that, in the event of an occlusion, a reliable and highly accurate pose estimation is achieved using the IMU data. Furthermore, the selected IMU was a low-cost model, to not severely increase the 6D Mimic cost, despite lowering the quality of the readings. Even in these conditions, the developed algorithm was able to produce high-quality estimations during short time occlusions.
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...
详细信息
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.
Though conditionals are an integral component of programming, providing an easy means of creating conditionals remains a challenge for programming- by-demonstration (PBD) systems for task automation. We hypothesize th...
详细信息
ISBN:
(纸本)9781538642351
Though conditionals are an integral component of programming, providing an easy means of creating conditionals remains a challenge for programming- by-demonstration (PBD) systems for task automation. We hypothesize that a promising method for implementing conditionals in such systems is to incorporate the use of verbal instructions. Verbal instructions supplied concurrently with demonstrations have been shown to improve the generalizability of PBD. However, the challenge of supporting conditional creation using this multi-modal approach has not been addressed. In this extended abstract, we present our study on understanding how end users describe conditionals in natural language for mobile app tasks. We conducted a formative study of 56 participants asking them to verbally describe conditionals in different settings for 9 sample tasks and to invent conditional tasks. Participant responses were analyzed using open coding and revealed that, in the context of mobile apps, end users often omit desired else statements when explaining conditionals, sometimes use ambiguous concepts in expressing conditionals, and often desire to implement complex conditionals. Based on these findings, we discuss the implications for designing a multimodal PBD interface to support the creation of conditionals.
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...
详细信息
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.
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...
详细信息
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.
Robots have long been part of production lines and, since they are widely used in a variety of applications, they have become a mass product. Yet, their integration into production is costly due to the necessity of sk...
详细信息
Robots have long been part of production lines and, since they are widely used in a variety of applications, they have become a mass product. Yet, their integration into production is costly due to the necessity of skilled engineers programming them. The goal of this article is to reduce these costs via a programming by demonstration approach, allowing unskilled workers to complete the task of said engineers. Rather than just working next to a robot, this enables a collaborative work environment where humans use manipulators as tools for various tasks. This work aims at automatically generating a trajectory by a single kinesthetic demonstration, which is performed by a non-expert user. The proposed approach adapts and extends the trajectory generator of a previous work and develops a method that gives guarantees on the deviation between the demonstrated path and the generated path. In contrast to the previous work, an expert user is not required. Furthermore, instead of teaching a series of points the whole trajectory is recorded in a single demonstration. To ensure real-time compatibility on the target hardware, one focus of this paper is on the complexity of the algorithm. The method is validated using a soft quasi continuum manipulator as an example for a collaborative robot.
In this paper we propose an easy to use framework for creating motion content for humanoid robots based on user demonstrations. A wearable interface is proposed and a prototype of the wearable interface is implemented...
详细信息
In this paper we propose an easy to use framework for creating motion content for humanoid robots based on user demonstrations. A wearable interface is proposed and a prototype of the wearable interface is implemented to provide an intuitive content creation method for users who lack expertise in robot programming. An algorithm for transferring human motion to a robot and creating editable motions is presented to improve the reusability of the demonstrated motions. For generating various motions from a limited number of demonstrations, two motion models are presented and diverse motions are generated from the motion models. A humanoid robot, AMIO, is used to validate the proposed motion generation framework.
This paper proposes an inertial human motion tracking for robot programming by demonstration (PbD). An original element called heading reset is proposed to catch the drift around gravity direction. It is based on a hy...
详细信息
This paper proposes an inertial human motion tracking for robot programming by demonstration (PbD). An original element called heading reset is proposed to catch the drift around gravity direction. It is based on a hypothesis made on the human arm motion during a task demonstration. It is used to overcome the non-use of the magnetometer due to magnetic disturbances from robotic environment. This element is implemented in an orientation estimation algorithm and compared with three other IMU algorithms and a commercial MARG algorithm. The human arm trajectory is estimated through three IMUs sensors directly set on the arm to estimate the segment orientation (hand, forearm and arm). A specific inertial-2-segment procedure is presented as well as a procedure to estimate the transformation from human reference frame to task frame, necessary for a PbD process. Experimental tests, using a robot as a reference, have been conducted to validate the different part of the method. The heading reset and the orientation algorithm show good results. The inertial-2-segment procedure is shown to be robust. Finally, experimental tests on a human arm and physical robot validate the complete method. (C) 2022 Elsevier B.V. All rights reserved.
暂无评论