One challenge to provide the manifold benefits of a robotic system to domains like private households or small enterprises is to give non-experts an easy-to-use interface to program such systems. Although there are ma...
详细信息
ISBN:
(纸本)9781538635186
One challenge to provide the manifold benefits of a robotic system to domains like private households or small enterprises is to give non-experts an easy-to-use interface to program such systems. Although there are many intuitive robot programming paradigms, there is no general set of evaluation tools to compare them in detail. In this paper we present a toolkit to evaluate robot programming concepts. This toolkit concerns in particular the intuitiveness of a programming interface and its robustness regarding the results from generated programs. We will explain which questionnaires are necessary to analyze both aspects and suggest how to design a user study. Furthermore we provide two case examples to demonstrate the analysis and interpretation of data. As such we hope to engage robot programming developers in evaluating the acceptability of their approach, find strengths and weaknesses and finally improve the design of robots.
For more than three years we have been researching the possibilities of robot programming teaching at elementary schools. The aim is to increase an interest in technical subjects of study at secondary schools and univ...
详细信息
ISBN:
(纸本)9781479921621
For more than three years we have been researching the possibilities of robot programming teaching at elementary schools. The aim is to increase an interest in technical subjects of study at secondary schools and universities with a technical orientation. Research has revealed many interesting facts, on the basis of which the methodology and teaching was proposed and production of robotic system kits was developed and launched. The system allows continuous education from primary school to university including production of prototypes of automation and robotic systems. In fact, construction suitability and quality has already been tested in practice. It turns out that education has a significant positive influence on both the natural and mutual authority of student - student and student - teacher and pupil discipline, diligence, consistency and the ability to solve problems. Further, it also influences the area of occupational safety and active creative use of IT technologies..
Application-oriented programming of industrial robots is considered. The authors formulate the problems and suggest one approach towards a solution. The problem is motivated by some typical examples that are outlined....
详细信息
ISBN:
(纸本)0818627204
Application-oriented programming of industrial robots is considered. The authors formulate the problems and suggest one approach towards a solution. The problem is motivated by some typical examples that are outlined. These examples show some requirements from different applications. Even a very mature application like spot welding needs special care to obtain best possible performance in the short moves between spots. In more complicated sensor-based applications the need is even greater. An architecture called the open robot control (ORC) architecture is proposed for this type of application-oriented programming. Solutions to the examples using ORC are discussed. A brief discussion of related works is given. Some implementation aspects are presented.
programming by Demonstration (PbD) is an intuitive technique for programmingrobot manipulation skills by demonstrating the desired behavior. However, most existing approaches either require extensive demonstrations o...
详细信息
ISBN:
(纸本)9798350377712;9798350377705
programming by Demonstration (PbD) is an intuitive technique for programmingrobot manipulation skills by demonstrating the desired behavior. However, most existing approaches either require extensive demonstrations or fail to generalize beyond their initial demonstration conditions. We introduce Diffusion-PbD, a novel approach to PbD that enables users to synthesize generalizable robot manipulation skills from a single demonstration by utilizing the representations captured by pre-trained visual foundation models. At demonstration time, hand and object detection priors are used to extract waypoints from the human demonstrations anchored to reference points in the scene. At execution time, features from pretrained diffusion models are leveraged to identify corresponding reference points in new observations. We validate this approach through a series of real-world robot experiments, showing that Diffusion-PbD is applicable to a wide range of manipulation tasks and has strong ability to generalize to unseen objects, camera viewpoints, and scenes. Code and supplementary videos can be found at https://diffusion- ***
According to the standardization of the robot programming language SLIM in Japan, the authors have developed the language interpreter with its programming environment for educational use. The system is installed on a ...
详细信息
ISBN:
(纸本)0780307534
According to the standardization of the robot programming language SLIM in Japan, the authors have developed the language interpreter with its programming environment for educational use. The system is installed on a personal computer with a low cost mini-robot. This paper first shows the language specification of SLIM, explains the developed programming environment with its user interface, and describes considerations on robot programming together with some of the experiences gained in teaching students using this system.
End-user development allows everyday users to tailor service robots or applications to their needs. One user-friendly approach is natural language programming. However, it encounters challenges such as an expansive us...
详细信息
ISBN:
(纸本)9798350376920;9798350366136
End-user development allows everyday users to tailor service robots or applications to their needs. One user-friendly approach is natural language programming. However, it encounters challenges such as an expansive user expression space and limited support for debugging and editing, which restrict its application in end-user programming. The emergence of large language models (LLMs) offers promising avenues for the translation and interpretation between human language instructions and the code executed by robots, but their application in end-user programming systems requires further study. We introduce Cocobo, a natural language programming system with interactive diagrams powered by LLMs. Cocobo employs LLMs to understand users' authoring intentions, generate and explain robot programs, and facilitate the conversion between executable code and flowchart representations. Our user study shows that Cocobo has a low learning curve, enabling even users with zero coding experience to customize robot programs successfully.
In this paper, we propose a framework for prioritized constraint-based specification of robot tasks. This framework is integrated with a cognitive robotic system based on semantic models of processes, objects, and wor...
详细信息
ISBN:
(纸本)9781509037629
In this paper, we propose a framework for prioritized constraint-based specification of robot tasks. This framework is integrated with a cognitive robotic system based on semantic models of processes, objects, and workcells. The target is to enable intuitive (re-)programming of robot tasks, in a way that is suitable for non-expert users typically found in SMEs. Using CAD semantics, robot tasks are specified as geometric inter-relational constraints. During execution, these are combined with constraints from the environment and the workcell, and solved in real-time. Our constraint model and solving approach supports a variety of constraint functions that can be non-linear and also include bounds in the form of inequalities, e.g., geometric inter-relations, distance, collision avoidance and posture constraints. It is a hierarchical approach where priority levels can be specified for the constraints, and the nullspace of higher priority constraints is exploited to optimize the lower priority constraints. The presented approach has been applied to several typical industrial robotic use-cases to highlight its advantages compared to other state-of-the-art approaches.
An approach for real-time robot programming by human demonstration for 6D force controlled actions is presented. A human operator utilises a joystick to guide a robot with a force sensor to execute a task including co...
详细信息
ISBN:
(纸本)078034300X
An approach for real-time robot programming by human demonstration for 6D force controlled actions is presented. A human operator utilises a joystick to guide a robot with a force sensor to execute a task including continuous contact between a manipulated object and an tin-modelled environment. During the demonstration, the position, velocity and force of the manipulated object as well as the human commands via the joystick are recorded. In real-time, the recorded information is translated into a textual robot program providing more robust execution in the presence of uncertainties. This approach has three main features 1) on-line control type adjustment;2) automatic subtask termination;3) real-time program generation. Experiments show the potential industrial applicability.
robots are widespread across diverse application contexts. Teaching robots to perform tasks, in their respective contexts, demands a high domain and programming expertise. However, robot programming faces high entry b...
详细信息
ISBN:
(纸本)9783030856236;9783030856229
robots are widespread across diverse application contexts. Teaching robots to perform tasks, in their respective contexts, demands a high domain and programming expertise. However, robot programming faces high entry barriers due to the complexity of robot programming itself. Even for experts robot programming is a cumbersome and error-prone task where faulty robot programs can be created, causing damage when being executed on a real robot. To simplify the process of robot programming, we combine Augmented Reality (AR) with principles of end-user development. By combining them, the real environment is extended with useful virtual artifacts that can enable experts as well as nonprofessionals to perform complex robot programming tasks. Therefore, Simple programming Environment in Augmented Reality with Enhanced Debugging (SPEARED) was developed as a prototype for an AR-assisted robot programming environment. SPEARED makes use of AR to project a robot as well as a programming environment onto the target working space. To evaluate our approach, expert interviews with domain experts from the area of industrial automation, robotics, and AR were performed. The experts agreed that SPEARED has the potential to enrich and ease current robot programming processes.
In this paper we present the new version of the IAda language developed for robot programming. This language is interpreted, to allow dynamic configuration. It is also concurrent to permit the programming of multi-rob...
详细信息
ISBN:
(纸本)0780309111
In this paper we present the new version of the IAda language developed for robot programming. This language is interpreted, to allow dynamic configuration. It is also concurrent to permit the programming of multi-robots. It includes a constraint scheme, to control the execution of the application and lastly, it is constructed for programming over a distributed hardware architecture.
暂无评论