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Using programming by demonstration tools for DEMO maintenance: A framework proposal with an experimental validation

FUSION ENGINEERING AND DESIGN 2025年 215卷

作者： David, O. Dhedin, V. Dumora, J. Padois, V. Rebbouh, A. Milella, F. Univ Paris Saclay CEA List F-91120 Palaiseau France Inria Auctus 200 Ave Vieille Tour F-33405 Talence France RACE United Kingdom Atom Energy Author Culham Sci Ctr Abingdon OX14 3DB England

The level of radiation expected in the DEMO fusion reactor facility will make it impossible to send operators during maintenance phases of the reactor as well as of a large number of ancillary components. During each scheduled shutdown phase, specifically designed robotized machines will replace consumable components in the course of complex and carefully studied procedures. However, accurate predictions for a large volume of tasks such as inspection or replacement of faulty components, are very difficult. These tasks will therefore require more versatile tools (e.g. manipulator with carrier). The resulting sum of potential errors (manufacturing, positioning...) makes it complex to carry out these tasks in a fully automated mode. Man-in-the-loop teleoperation techniques are therefore being considered, as they provide fault tolerance and adaptability. Previous studies have shown that the generation of operator assistance by model-based control tools does not only provides comfort when executing tasks, but also significantly improves their execution quality and allows hybrid modes switching between man in the loop, automated or semi-automated control modes. However, design of such models remains complex. Inspired by "programming by demonstration" (PbD) tools used in robotics, the feasibility of a framework creating the model directly during the execution phase is investigated, thanks to measurements taken locally. The model is built-up on-site, today with help of probes and in the future with 3D scanners. Then, the model is used to generate operator assistance. After reviewing the literature on the subject, we detail the particularities of our approach focusing on the interface level between a tool and its target and we explain why it is relevant in contexts such as fusion facilities. Then an experimental validation in the form of a pipe inspection with a camera mounted on a manipulator arm is presented.

关键词： Remote handling Teleoperation programming by demonstration Virtual guides Collaborative robot Maintenance DEMO

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Neuromuscular Interfacing for Advancing Kinesthetic and Teleoperated programming by demonstration of Collaborative Robots

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IEEE TRANSACTIONS ON HAPTICS 2025年第1期18卷 45-57页

作者： Meattini, Roberto Ameri, Armando Bernardini, Alessandra Gonzalez-Huarte, Javier Ibarguren, Aitor Melchiorri, Claudio Palli, Gianluca Univ Bologna Dept Elect Elect & Informat Engn Guglielmo Marconi I-40136 Bologna Italy TECNALIA Basque Res & Technol Alliance BRTA Donostia San Sebastian 20009 Spain

This study addresses the challenges of programming by demonstration (PbD) in the context of collaborative robots, focusing on the need to provide additional degrees of programming without hindering the user's ability to demonstrate trajectories. The study proposes the use of a wearable human-robot interface based on surface Electromyography (sEMG) to measure the forearm's muscle co-contraction level, enabling additional programming inputs through hand stiffening level modulations without interfering with voluntary movements. Vibrotactile feedback enhances the operator's understanding of the additional programming inputs during PbD tasks. The proposed approach is demonstrated through experiments involving a collaborative robot performing an industrial wiring task. The results showcase the effectiveness and intuitiveness of the interface, allowing simultaneous programming of robot compliance and gripper grasping. The framework, applicable to both teleoperation and kinesthetic teaching, demonstrated effectively in an industrial wiring task with a 100% success rate over the group of subjects. Furthermore, the presence of vibortactile feedback showed an average decrease of programming errors of 33%, and statistical analyses confirmed the subjects' ability to correctly modulate co-contraction levels. This innovative framework augments programming by demonstration by integrating neuromuscular interfacing and introducing structured programming logics, providing an intuitive human-robot interaction for programming both gripper and compliance in teleoperation and kinesthetic teaching.

关键词： programming by demonstration robotic wiring advanced human-robot interfaces programming by demonstration robotic wiring advanced human-robot interfaces

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programming by demonstration using version space algebra

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MACHINE LEARNING 2003年第1-2期53卷 111-156页

作者： Lau, T Wolfman, SA Domingos, P Weld, DS IBM Corp TJ Watson Res Ctr Yorktown Hts NY 10598 USA Univ Washington Dept Comp Sci & Engn Seattle WA 98195 USA

programming by demonstration enables users to easily personalize their applications, automating repetitive tasks simply by executing a few examples. We formalize programming by demonstration as a machine learning problem: given the changes in the application state that result from the user's demonstrated actions, learn the general program that maps from one application state to the next. We present a methodology for learning in this space of complex functions. First we extend version spaces to learn arbitrary functions, not just concepts. Then we introduce the version space algebra, a method for composing simpler version spaces to construct more complex spaces. Finally, we apply our version space algebra to the text-editing domain and describe an implemented system called SMARTedit that learns repetitive text-editing procedures by example. We evaluate our approach by measuring the number of examples required for the system to learn a procedure that works on the remainder of examples, and by an informal user study measuring the effort users spend using our system versus performing the task by hand. The results show that SMARTedit is capable of generalizing correctly from as few as one or two examples, and that users generally save a significant amount of effort when completing tasks with SMARTedit's help.

关键词： programming by demonstration adaptive user interfaces version spaces complex function learning

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programming by demonstration Using the Teleimpedance Control Scheme: Verification by an sEMG-Controlled Ball-Trapping Robot

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2019年第2期15卷 998-1006页

作者： Park, Seongsik Lee, Woongyong Chung, Wan Kyun Kim, Keehoon Korea Inst Sci & Technol Interact & Robot Res Ctr Seoul 02792 South Korea Pohang Univ Sci & Technol Dept Mech Engn Pohang 37673 South Korea

Impedance control allows robots to manipulate physical interactions delicately. However, issues associated with path planning and impedance remain unresolved. Herein we propose a path and impedance planning method for impedance control in a robot based on programming by demonstration through telemanipulation using a surface electromyogram. We considered a task that requires quick and precise adjustment of path and impedance, that is, ball trapping. We implemented a teleoperated robot that can deliver an operator's impedance as well as position during the ball trapping task to the slave side. The operators were asked to perform demonstrations of ball-trapping tasks using the implemented teleoperated robot, where the slave side is a vertical robot with one degree of freedom. The path and impedance were recorded and programmed as control input profiles from a set of successful demonstrations using Gaussian mixture regression. The result showed that using the human demonstration, the robot could learn how to catch a dropped ball without rebounding.

关键词： Impedance control programming by demonstration surface electromyogram teleimpedance control

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programming by demonstration in Augmented Reality for the Motion Planning of a Three-Axis CNC Dispenser

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INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING-GREEN TECHNOLOGY 2020年第5期7卷 987-995页

作者： Chu, Chih-Hsing Liu, Yu-Wang Li, Pai-Chia Huang, Liao-Chuan Luh, Yuan-Ping Natl Tsing Hua Univ Dept Ind Engn & Engn Management Hsinchu Taiwan Natl Tsing Hua Univ Hsinchu Taiwan Natl Taipei Univ Technol Taipei Taiwan Natl Taipei Univ Technol Inst Mfg Technol Taipei Taiwan

This study presents a programming by demonstration (PbD) interface in augmented reality for motion planning in a three-axis CNC glue dispenser. The interface assists a human planner to effectively determine dispenser motion in a planning task. An augmented reality application prompts the planner with instructive information in a video of real environment while guiding the machine in 3D space to dispense glue on a work part. The purpose involves facilitating the generation of the dispenser's motion commands by enhancing individual spatial reasoning between the dispenser's tip and the work part. CAD models are not required prior to the planning task, thus eliminating the use of motion planning software. Test results demonstrate the effectiveness of the proposed interface with respect to accelerating the process of the dispenser PbD. The study shows the practical value of augmented reality as a cost-effective interfacing technology for human-machine collaborations in smart manufacturing.

关键词： Augmented reality Human-machine interaction Motion planning programming by demonstration

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programming by demonstration Using Two-Step Optimization for Industrial Robot

Programming by Demonstration Using Two-Step Optimization for...

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16th IFAC Symposium on Information Control Problems in Manufacturing (INCOM)

作者： Ostanin, Mikhail Popov, Dmitry Klimchik, Alexandr Innopolis Univ Innopolis 420500 Russia

The paper presents programming by demonstration approach for industrial robots that uses two steps trajectory optimization On the first stage, optimization is done by statistical methods, on the second stage, the robot end-effector trajectory is obtained based on minimization of energy consumption and task execution time criteria. We verified our approach using 7 degree-of-freedom redundant robot KUKA iiwa and Microsoft Kinect 2.0 motion capture system. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： programming by demonstration Trajectory optimization Industrial robot Redundant manipulator

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Object interaction and task programming by demonstration in visuo-haptic augmented reality

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MULTIMEDIA SYSTEMS 2016年第6期22卷 675-691页

作者： Aleotti, Jacopo Micconi, Giorgio Caselli, Stefano Univ Parma Dipartimento Ingn Informaz Parma Italy

A visuo-haptic augmented reality system is presented for object manipulation and task learning from human demonstration. The proposed system consists of a desktop augmented reality setup where users operate a haptic device for object interaction. Users of the haptic device are not co-located with the environment where real objects are present. A three degrees of freedom haptic device, providing force feedback, is adopted for object interaction by pushing, selection, translation and rotation. The system also supports physics-based animation of rigid bodies. Virtual objects are simulated in a physically plausible manner and seem to coexist with real objects in the augmented reality space. Algorithms for calibration, object recognition, registration and haptic rendering have been developed. Automatic model-based object recognition and registration are performed from 3D range data acquired by a moving laser scanner mounted on a robot arm. Several experiments have been performed to evaluate the augmented reality system in both single-user and collaborative tasks. Moreover, the potential of the system for programming robot manipulation tasks by demonstration is investigated. Experiments show that a precedence graph, encoding the sequential structure of the task, can be successfully extracted from multiple user demonstrations and that the learned task can be executed by a robot system.

关键词： Visuo-haptic augmented reality programming by demonstration Collaborative manipulation

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Robot programming by demonstration using teleoperation through imitation

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 2017年第2期44卷 142-154页

作者： Jha, Abhishek Chiddarwar, Shital S. VNIT Dept Mech Engn Nagpur Maharashtra India

Purpose - This paper aims to present a new learning from demonstration-based trajectory planner that generalizes and extracts relevant features of the desired motion for an industrial robot. Design/methodology/approach - The proposed trajectory planner is based on the concept of human arm motion imitation by the robot end-effector. The teleoperation-based real-time control architecture is used for direct and effective imitation learning. Using this architecture, a self-sufficient trajectory planner is designed which has inbuilt mapping strategy and direct learning ability. The proposed approach is also compared with the conventional robot programming approach. Findings - The developed planner was implemented on the 5 degrees-of-freedom industrial robot SCORBOT ER-4u for an object manipulation task. The experimental results revealed that despite morphological differences, the robot imitated the demonstrated trajectory with more than 90 per cent geometric similarity and 60 per cent of the demonstrations were successfully learned by the robot with good positioning accuracy. The proposed planner shows an upper hand over the existing approach in robustness and operational ease. Research limitations/implications - The approach assumes that the human demonstrator has the requisite expertise of the task demonstration and robot teleoperation. Moreover, the kinematic capabilities and the workspace conditions of the robot are known a priori. Practical implications - The real-time implementation of the proposed methodology is possible and can be successfully used for industrial automation with very little knowledge of robot programming. The proposed approach reduces the complexities involved in robot programming by direct learning of the task from the demonstration given by the teacher. Originality/value - This paper discusses a new framework blended with teleoperation and kinematic considerations of the Cartesian space, as well joint space of human and industrial robot and opt

关键词： Teleoperation Imitation Mapping programming by demonstration Trajectory learning Trajectory planner

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Joining Force of Human Muscular Task Planning With Robot Robust and Delicate Manipulation for programming by demonstration

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2020年第5期25卷 2574-2584页

作者： Wang, Fei Zhou, Xingqun Wang, Jianhui Zhang, Xing He, Zhenquan Song, Bo Northeastern Univ Fac Robot Sci & Engn Shenyang 110169 Peoples R China Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Peoples R China Chinese Acad Sci Inst Intelligent Machines Hefei 230031 Peoples R China

Recently, programing by demonstration (PbD) received much attention for its capacity of fast programming with increasing demands in the robot manipulation area, especially in industrial applications. However, one of the biggest challenges of PbD is the recognition of demonstrator's finger high-fidelity motions especially in the environments with uncertainties, which limits the efficiency and accuracy of PbD. In this article, inspired by human dexterity, a novel PbD approach using the implicit muscular task planning strategy is presented to extract features from the arms' giant movement and the hands' fine motions during the demonstrator's operation. Furthermore, we integrate a deep reinforcement learning control method that further improves the manipulations' adaptive ability in the unknown or dynamic environments. The experimental results show that our proposed approach can deal with relative complex assembly tasks with a success rate of more than 67% within a fit tolerance of 4.2 mm by one-shot demonstration.

关键词： Task analysis Robot sensing systems Gesture recognition IEEE transactions Mechatronics Robotic assembly Implicit muscular task planning multisource information fusion programming by demonstration reinforcement learning

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Industrial robot programming by demonstration using stereoscopic vision and inertial sensing

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 2022年第1期49卷 96-107页

作者： de Souza, Joao Pedro C. Amorim, Antonio M. Rocha, Luis F. Pinto, Vitor H. Moreira, Antonio Paulo Univ Porto DEEC Porto Portugal CRIIS INESC TEC Porto Portugal

Purpose The purpose of this paper is to present a programming by demonstration (PbD) system based on 3D stereoscopic vision and inertial sensing that provides a cost-effective pose tracking system, even during error-prone situations, such as camera occlusions. Design/methodology/approach The proposed PbD system is based on the 6D Mimic innovative solution, whose six degrees of freedom marker hardware had to be revised and restructured to accommodate an IMU sensor. Additionally, a new software pipeline was designed to include this new sensing device, seeking the improvement of the overall system's robustness in stereoscopic vision occlusion situations. Findings The IMU component and the new software pipeline allow the 6D Mimic system to successfully maintain the pose tracking when the main tracking tool, i.e. the stereoscopic vision, fails. Therefore, the system improves in terms of reliability, robustness, and accuracy which were verified by real experiments. Practical implications Based on this proposal, the 6D Mimic system reaches a reliable and low-cost PbD methodology. Therefore, the robot can accurately replicate, on an industrial scale, the artisan level performance of highly skilled shop-floor operators. Originality/value To the best of the authors' knowledge, the sensor fusion between stereoscopic images and IMU applied to robot PbD is a novel approach. The system is entirely designed aiming to reduce costs and taking advantage of an offline processing step for data analysis, filtering and fusion, enhancing the reliability of the PbD system.

关键词： programming by demonstration Agile robotic systems Industry 4 0 IMU Stereoscopic vision

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