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25th IEEE International Symposium on Industrial Electronics (ISIE)

作者： Marino, Daniel L. Manic, Milos Virginia Commonwealth Univ Dept Comp Sci Richmond VA 23284 USA

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.

关键词： Trajectory simplification programming by demonstration splines motion tracking

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Enhanced Performance Real-Time Industrial Robot programming by demonstration using Stereoscopic Vision and an IMU sensor

Enhanced Performance Real-Time Industrial Robot Programming ...

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Pinto, Vitor H. Amorim, Antonio Rocha, Luis Moreira, Antonio P. Univ Porto FEUP Fac Engn Porto Portugal Ctr Robot Ind & Intelligent Syst INESCTEC Porto Portugal

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.

关键词： programming by demonstration Agile Robotic Systems Industry 4.0 IMU

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Leveraging on a virtual environment for robot programming by demonstration

Leveraging on a virtual environment for robot programming by...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Aleotti, J Caselli, S Reggiani, M Univ Parma Dipartimento Ingn Informaz I-43100 Parma Italy

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.

关键词： robot programming programming by demonstration virtual fixtures virtual environments

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How End Users Express Conditionals in programming by demonstration for Mobile Apps

How End Users Express Conditionals in Programming by Demonst...

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

作者： Radensky, Marissa Li, Toby Jia-Jun Myers, Brad A. Amherst Coll Comp Sci Dept Amherst MA 01002 USA Carnegie Mellon Univ Human Comp Interact Inst Pittsburgh PA 15213 USA

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.

关键词： conditionals programming by demonstration verbal instruction end-user development natural programming

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

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Procedia Manufacturing 2021年 55卷 16-23页

作者： Markus Ikeda Naresh Chitturi Markus Ganglbauer Andreas Pichler PROFACTOR GmbH Im 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.

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

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

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Procedia Engineering 2012年 30卷 554-561页

作者： A.A. Nippun Kumaar Sudarshan Tsb Department of Computer Science Amrita Vishwa Vidyapeetham School of Engineering Bangalore Campus Karnataka - 560035 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.

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

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One-Shot kinesthetic programming by demonstration for soft collaborative robots

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MECHATRONICS 2020年 70卷 102418-102418页

作者： Mueller, Daniel Veil, Carina Seidel, Marc Sawodny, Oliver Univ Stuttgart Inst Syst Dynam Waldburgstr 17-19 D-70563 Stuttgart Germany

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.

关键词： programming by demonstration Soft robots Continuum manipulators Collaborative robots Human machine interaction

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Framework for Creating Intuitive Motion Content for Humanoid Robots Based on programming by demonstration

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2012年第4期9卷

作者： Kwon, Gi Il Jeong, Il Woong Seo, Yong-Ho Yang, Hyun Seung Mokwon Univ Dept Robot Engn Taejon South Korea Korea Adv Inst Sci & Technol Robot Program Taejon 305701 South Korea Mobile Comm Samsung Elect Co Ltd Suwon South Korea Korea Adv Inst Sci & Technol Dept Comp Sci Taejon 305701 South Korea

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.

关键词： Motion Generation Humanoid Robots programming by demonstration Human-Robot Interaction

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An inertial human upper limb motion tracking method for robot programming by demonstration

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ROBOTICS AND AUTONOMOUS SYSTEMS 2022年 156卷

作者： Pellois, Robin Bruls, Olivier Univ Liege Dept Aerosp & Mech Engn Liege Belgium

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.

关键词： Robotics programming by demonstration Inertial human motion tracking

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PLC-programming by demonstration using Graspable Models

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IFAC Proceedings Volumes 2001年第29期34卷 88-93页

作者： Kai Schäfer Willi Bruns University of Bremen Research Center Work - Environment - Technology (artec) Enrique Schmidt Str. 7 (SFG) D-28359 Bremen Fon: +49 (0)421 2184206 Fax: +49 (0)421 2184449

PLC-programming for production plants is time and money consuming. It takes place in the critical period shortly before start ofproduction which is a very time critical period. It should be started as early as possible, using concurrent engineering, interdisciplinary cooperation, efficient programming tools and simulation. programming by demonstration using graspable models brings these techniques together and represents a crucial new approach Graspable models of solid bricks are well suited for factory planning. Using these graspable models also for programming may improve cooperation and understanding of interdisciplinary experts. The Research Center artec features a new concept called Real Reality to synchronize real and virtual worlds dynamically. A magnetic tracking system serves as input device together with a data glove or a sensor ring. These devices provide input data that allow to keep track of the changes of the real world model. An automatic system for input abstraction generates PLC programs automatically from demonstrated behavior. The benefits ofthis concept are shorter time to production, lower costs, better control program validity and better cooperation in interdisciplinary teams.

关键词： Automation Gesture recognition Interactive approaches Interdisciplinary design Interfaces Programmable logic controllers programming programming by demonstration User interfaces Virtual reality

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