We propose a programming paradigm for robotics that has the potential to drastically facilitate robotic programming. Building up on Sikuli, a GUI automation language, we abstract specific robotic perception and contro...
详细信息
ISBN:
(纸本)9781479946051
We propose a programming paradigm for robotics that has the potential to drastically facilitate robotic programming. Building up on Sikuli, a GUI automation language, we abstract specific robotic perception and control capabilities into first-class objects that are embedded in a simple scripting language. Currently, robotics programming requires a deep understanding of perception, controls and algorithms, knowledge of a specific robot's perception capabilities and kinematics, and finally a substantial amount of software engineering. Although learn-by-demonstration allows also relatively unskilled users to adapt a robot to their needs, this approach is intrinsically limited by the complexity such a program can reach. This paper presents a proof-of-concept for migrating Sikuli from the virtual GUI workspace of computer software to the physical 3D workspace of robotics. It then presents an example use case that illustrates the power of this new approach using a simple script that arranges a set of randomly aligned blocks into a tower using a Baxter robot equipped with an Asus Xtion Pro.
This paper introduces the new robot programming language LightRocks(Light Weight robot Coding for Skills), a domain specific language (DSL) for robot programming. The language offers three different level of abstracti...
详细信息
ISBN:
(纸本)9781467356411;9781467356435
This paper introduces the new robot programming language LightRocks(Light Weight robot Coding for Skills), a domain specific language (DSL) for robot programming. The language offers three different level of abstraction for robot programming. On lowest level skills are coded by domain experts. On a more abstract level these skills are supposed to be combined by shop floor workers or technicians to define tasks. The language is designed to allow as much flexibility as necessary on the lowest level of abstraction and is kept as simple as possible with the more abstract layers. A Statechart like model is used to describe the different levels of detail. For this we apply the UML/P and the language workbench MontiCore. To this end we are able to generate code while hiding controller specific implementation details. In addition the development in LightRocks is supported by a generic graphical editor implemented as an Eclipse plugin.
A robot skill is an ability of a robot to repeatably accomplish any useful action that can be described unambiguously to a production engineer in English, and can be described formally to a systems programmer using a ...
详细信息
programming by demonstration (PbD) is a promising approach to facilitate the use of robots. The bandwidth of PbD systems extends from simple play back to artificial intelligence methods. Our approach is based on the f...
详细信息
ISBN:
(纸本)9783642012129
programming by demonstration (PbD) is a promising approach to facilitate the use of robots. The bandwidth of PbD systems extends from simple play back to artificial intelligence methods. Our approach is based on the former. This paper aims to introduce and examine intuitive programming of spatial loops, i.e. program loops whose body changes according to a spatial variable. The loop is programmed by executing e.g. the first, the second, and the last run. The system then determines all components of the loop so they can be used to generate a program. The focus of this paper lies in automatic determination of the variables for the start, the step and the end of spatial loops. This method of robot programming has interesting applications in the field of industrial robotics, especially with respect to small- and medium-sized enterprises, as well as for service robotics.
Spatial language and ability play important roles in children's cognitive development. Spatial ability in kindergarten predicts achievement in reading, math, science, and technology in primary school and therefore...
详细信息
Spatial language and ability play important roles in children's cognitive development. Spatial ability in kindergarten predicts achievement in reading, math, science, and technology in primary school and therefore constitutes an important skill set in preparation for school entrance. Good spatial thinking skills are required for learning in school. The study's purpose was to examine the contribution of robot programming to an intervention aimed at promoting spatial language (spatial vocabulary) and spatial ability (mental rotation, visual-spatial memory) among preschool children at risk for Specific learning disability (SLD). The sample of 84 preschool children participating in the study was randomly assigned to three groups: (1) intervention group with robot programming, (2) intervention group without robot programming, and (3) a control group. The findings indicate that children exposed to the robot-based intervention exhibited the greatest improvement in spatial vocabulary and mental rotation tests when compared to the children who participated in either the intervention without robot programming or in the control group. No significant differences between the groups were found in post-intervention visual-spatial memory. The findings indicate that robot programming activity contributes unique added value in attempts to foster spatial vocabulary and mental rotation.
Companies have to face constantly changing framework conditions. Product lifecycles are reduced and the number of variants increase as a result of increasing product individualization. To ensure that production system...
详细信息
End-user programming methods that enable users who may not have programming or robotics experience to program robots have helped lower the barrier of entry for everyday people to use robots for their needs. However, p...
详细信息
When applying robots in small scale production, the bottleneck is programming. There are three conventional ways to generate robot programs: by walk through, lead through and off-line programming. Walk through program...
详细信息
When implementing the high-level control component of an autonomous robot, one needs to process events, generated by sensory components, to extract the information relevant to the control component. This paper discuss...
详细信息
Current robot software architectures use the publish/subscribe messaging protocol to enable communication between components. The messages published by a component have to meet the specifications of components subscri...
详细信息
ISBN:
(纸本)9781509046164
Current robot software architectures use the publish/subscribe messaging protocol to enable communication between components. The messages published by a component have to meet the specifications of components subscribing to these messages. Because of this, components can often not be used directly together and either have to be modified first or need to be wrapped using connector components. This increases the amount of work required to develop robot software. In this paper we propose Complex Events Processing (CEP) with Procedural Parameters as an alternative solution. CEP allows a developer to use various operators besides subscribe to define the communication between components. These operators for example allow mapping, filtering and sampling of messages. To be able to provide a generic set of operators which can be used in any robot application, we allow developers to define procedures as parameters to the operators. The procedures act as a strategy for the computation to be performed, the operator defining what should be done and the procedural parameter defining how to do it. Through an example we show that CEP can be used for creating robot behaviors.
暂无评论