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Unifying Skill-Based programming and programming by demonstration through Ontologies

Procedia Computer Science 2024年 232卷 595-605页

作者： Thomas Eiband Florian Lay Korbinian Nottensteiner Dongheui Lee Institute of Robotics and Mechatronics German Aerospace Center (DLR) Münchener Str. 20 82234 Wessling Germany Autonomous Systems Technische Universität Wien (TU Wien) Gußhausstraße 27-29/384 1040 Vienna Austria

Smart manufacturing requires easily reconfigurable robotic systems to increase the flexibility in presence of market uncertainties by reducing the set-up times for new tasks. One enabler of fast reconfigurability is given by intuitive robot programming methods. On the one hand, offline skill-based programming (OSP) allows the definition of new tasks by sequencing pre-defined, parameterizable building blocks termed as skills in a graphical user interface. On the other hand, programming by demonstration (PbD) is a well known technique that uses kinesthetic teaching for intuitive robot programming, where this work presents an approach to automatically recognize skills from the human demonstration and parameterize them using the recorded data. The approach further unifies both programming modes of OSP and PbD with the help of an ontological knowledge base and empowers the end user to choose the preferred mode for each phase of the task. In the experiments, we evaluate two scenarios with different sequences of programming modes being selected by the user to define a task. In each scenario, skills are recognized by a data-driven classifier and automatically parameterized from the recorded data. The fully defined tasks consist of both manually added and automatically recognized skills and are executed in the context of a realistic industrial assembly environment.

关键词： intuitive programming smart factory skill recognition robot skills programming by demonstration Learning from demonstration user interface kinesthetic teaching ontology knowledge base

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Motion capture and AR based programming by demonstration for industrial robots using handheld teaching device

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SCIENTIFIC REPORTS 2024年第1期14卷 1-24页

作者： Liu, Guoliang Sun, Wenlei Li, Pinwen Xinjiang Univ Sch Mech Engn Urumqi 830017 Peoples R China

In the industrial robots field, efficient and convenient programming methods have been a hot research topic. In recent years, immersive simulation technology has been developing rapidly in many fields, which provides new horizons for the development of industrial robots. This paper presents a HTC VIVE laser scan motion capture and Holohens augmented reality (AR) based interactive programming by demonstration (PbD) system for industrial robot. A portable Handheld Teaching Device (HTD) and its calibration algorithm are designed in the system. The portable HTD which is tracked by a laser motion capture system can be viewed as an AR robot end-effector to teach paths. Meanwhile, the AR robot can be simulated in real time during programing. In addition, the robot reproducing the operator's actions at the same position in space is the focus of programming. So, Multi-system registration methods are proposed to determine the relationship between robot systems, motion capture systems and virtual robot systems. Meanwhile, a path planning algorithm is proposed to convert the captured raw path points into robot-executable code. For unskilled operators, they can easily perform complex programming using the HTD. For skilled senior workers, their skills can be quickly learned by robots using the system.

关键词： Robots Motion capture AR programming by demonstration

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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

作者： Takuma Hamabe Hiraki Goto Jun Miura Department of Computer Science and Engineering Toyohashi University of Technology

ISBN: (纸本)9781467396769

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 PbD research dealt with singleagent 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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programming constraints by demonstration

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JOURNAL OF VISUAL LANGUAGES AND COMPUTING 2003年第1期14卷 79-96页

作者： Hattori, T Keio Univ Fac Environm Informat Kanagawa 2528520 Japan

The executable constraint is proposed to offer designers a way to define a new set of constraints on top of an editing tool. It aims mainly to maintain the integrity of data structures such as diagrams that users create, during an edit session. When a part of the structure is modified by a user, the computer modifies other parts as a consequence of the user's instructions given in advance. Executable constraints are sequences of editing operations whose fixed points give relations to be maintained. They are constructed from primitive editing operations by demonstration to avoid textual form of expression, so that non-programmers can define new relations. Priority and condition are introduced to cope with over-constrained or conditional situations. (C) 2003 Elsevier Science Ltd. All rights reserved.

关键词： programming by demonstration constraint constraint solving end-user programming extensible editor

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Hand Pose Estimation for Robot programming by demonstration in Object Manipulation Tasks

Hand Pose Estimation for Robot Programming by Demonstration ...

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第37届中国控制会议

作者： Jun Xu Qian Kun Huan Liu Xudong Ma Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University

Observing human demonstration is an efficient way to transfer skills to robots and increasing their *** this paper,a vision-based markerless Progamming by demonstration(PbD) system is developed for object manipulation tasks of *** system entails the use of KCF algorithm for tracking human hand movements and PSO algorithm for reliably estimating hand posture,using a single noisy and low-cost RGB-D *** particular,27 DoF hand pose including palm and finger joints is recovered for providing more precise information of how an specific object is ***,hand trajectories and postures in the manipulation demonstration are converted from human workspace to robot workspace using precalibrated coordinate relations,and thus can directed guide a robot *** is conducted to cope with two typical object manipulation tasks,namely Handover and *** results validate the accuracy and stability of the proposed system.

关键词： programming by demonstration spatial calibration hand tracking gesture recognition

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Internet Scrapbook: automating Web browsing tasks by programming-by-demonstration

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COMPUTER NETWORKS AND ISDN SYSTEMS 1998年第1-7期30卷 688-690页

作者： Sugiura, A Koseki, Y NEC Corp Ltd C&C Media Res Labs Miyamae Ku Kawasaki Kanagawa 216 Japan

This paper describes an intelligent Web browsing system, called Internet Scrapbook, which allows users with little programming skill to automate their repetitive browsing tasks using a programming-by-demonstration technique. With the system, the user can create a personal page by clipping only the necessary portions from multiple Web pages. Once the personal page is created, the system updates it on behalf of the user by extracting the specified ports from the latest Web pages. (C) 1998 Published by Elsevier Science B.V. All rights reserved.

关键词： Web browsing programming by demonstration

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WebRobot: Web Robotic Process Automation using Interactive programming-by-demonstration 2022

WebRobot: Web Robotic Process Automation using Interactive P...

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43rd ACM SIGPLAN International Conference on programming Language Design and Implementation (PLDI)

作者： Dong, Rui Huang, Zhicheng Lam, Ian Iong Chen, Yan Wang, Xinyu Univ Michigan Ann Arbor MI 48109 USA Univ Toronto Toronto ON Canada

ISBN: (纸本)9781450392655

It is imperative to democratize robotic process automation (RPA), as RPA has become a main driver of the digital transformation but is still technically very demanding to construct, especially for non-experts. In this paper, we study how to automate an important class of RPA tasks, dubbed web RPA, which are concerned with constructing software bots that automate interactions across data and a web browser. Our main contributions are twofold. First, we develop a formal foundation which allows semantically reasoning about web RPA programs and formulate its synthesis problem in a principled manner. Second, we propose a web RPA program synthesis algorithm based on a new idea called speculative rewriting. This leads to a novel speculate-and-validate methodology in the context of rewrite-based program synthesis, which has also shown to be both theoretically simple and practically efficient for synthesizing programs from demonstrations. We have built these ideas in a new interactive synthesizer called WEBROBOT and evaluate it on 76 web RPA benchmarks. Our results show that WEBROBOT automated a majority of them effectively. Furthermore, we show that WEBROBOT compares favorably with a conventional rewrite-based synthesis baseline implemented using egg. Finally, we conduct a small user study demonstrating WEBROBOT is also usable.

关键词： Program Synthesis programming by demonstration Rewrite-based Synthesis Robotic Process Automation Web Automation Human-in-the-loop

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programming Robots by demonstration Using Augmented Reality

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SENSORS 2021年第17期21卷 5976-5976页

作者： Soares, Ines Petry, Marcelo Moreira, Antonio Paulo Univ Porto Dept Elect & Comp Engn Fac Engn FEUP P-4200465 Porto Portugal INESC TEC Inst Syst & Comp Engn Technol & Sci P-4200465 Porto Portugal

The world is living the fourth industrial revolution, marked by the increasing intelligence and automation of manufacturing systems. Nevertheless, there are types of tasks that are too complex or too expensive to be fully automated, it would be more efficient if the machines were able to work with the human, not only by sharing the same workspace but also as useful collaborators. A possible solution to that problem is on human-robot interaction systems, understanding the applications where they can be helpful to implement and what are the challenges they face. This work proposes the development of an industrial prototype of a human-machine interaction system through Augmented Reality, in which the objective is to enable an industrial operator without any programming experience to program a robot. The system itself is divided into two different parts: the tracking system, which records the operator's hand movement, and the translator system, which writes the program to be sent to the robot that will execute the task. To demonstrate the concept, the user drew geometric figures, and the robot was able to replicate the operator's path recorded.

关键词： augmented reality collaborative robots industrial robots programming by demonstration

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Peg-in-Hole Assembly programming Through a Single demonstration

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2025年 74卷

作者： Wu, Jianhua Ding, Cheng Du, Wei Xiong, Zhenhua Shanghai Jiao Tong Univ Inst Robot Sch Mech Engn Shanghai 200240 Peoples R China

Robot peg-in-hole assembly is a common industrial application that typically requires force-based control. With the rise of small-batch production, the traditional method of software development by professional engineers becomes increasingly burdensome due to high labor and time costs. This article introduces an automatic programming method for such tasks, which can be achieved through a single demonstration. It first analyzes the position and force information from the demonstration of a peg-in-hole assembly process to identify the insertion direction and compliance directions. Subsequently, an admittance controller is designed based on these directions, incorporating the concepts of virtual remote center compliance (RCC) and dynamic balance center. The parameters for the admittance controller are directly determined from the demonstration. A key advantage of the proposed method is that it requires only a single demonstration, eliminating the need for extensive coding efforts. Experiments demonstrate that this method can successfully complete peg-in-hole assembly tasks with a clearance of about 0.02 mm.

关键词： Assembly Robots Vectors Robot sensing systems Impedance Training Hidden Markov models Production Force Reinforcement learning Force control peg-in-hole programming by demonstration remote center compliance (RCC) single demonstration

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Off-Line programming Framework for Sorting Task Based on Human-demonstration

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2025年 22卷 2199-2212页

作者： Du, Wei Ding, Cheng Wu, Jianhua Xiong, Zhenhua Shanghai Jiao Tong Univ State Key Lab Mech Syst & Vibrat Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ Inst Robot Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ Sch Mech Engn Shanghai 200240 Peoples R China

Sorting tasks are typical applications in the product and industrial domains. When facing new settings, such as different types of objects and their positions, the system has to be reprogrammed by experienced engineers, which decreases production efficiency and increases labour and downtime costs. In this paper, an off-line programming framework for sorting tasks based on human demonstration has been developed, taking advantage of machine vision and programming-by-demonstration concepts. Only one eye-to-hand depth camera has been used to record both the demonstrated trajectory and the corresponding relationship of the sorting task. A feature generalization algorithm has also been proposed to ensure that the system is able to reproduce the sorting task using both the key features of the trajectory and the sorting features. Finally, tracking, object and target matching, and generalization experiments have been conducted using the JAKA Zu7 robot with different types of fruit models and target boxes. The results show that the proposed framework is able to record the sorting trajectory at a frequency of 10 Hz, acquire and maintain the sorting relationship after new demonstration, and automatically reproduce the sorting task in new settings. Note to Practitioners-This paper is motivated by a goal to accomplish intuitive and user-friendly off-line programming for sorting task. The programming framework should be usable by non-experts and be able to complete programming tasks with a few demonstrations when faced with new scenarios, such as different types of objects, different correspondence relationships of the object, and different positions of the object. By observing the human demonstrated sorting tasks, the above-mentioned features can be effectively extracted, so as to complete the convenient teaching. The underlying principle of this paper is to let the robot observe human demonstrated sorting task by a depth camera, tracking the relative trajectory between the objec

关键词： Sorting task programming by demonstration object tracking corresponding relationships path reproduction

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