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IEEE International Workshop on Intelligent robots and Systems (IROS)

作者： N. Delson H. West Department of Mechanical Engineering Massachusetts Institute of Technology USA

programming by human demonstration is an intuitive method of robot programming, in which the programmer demonstrates how a task is performed using a teaching gripper that measures human motion, and the data gathered is used to generate the robot program. A direct duplication of the demonstrated trajectory would result in unsatisfactory robot motion due to human "wiggles" and unnecessary motion. Here, human inconsistency is not treated as noise that should be eliminated from the analysis, but is used to gain information regarding the task accuracy requirements. A task of moving a part to a desired location while avoiding stationary obstacles is demonstrated. Variation between the demonstrations is interpreted as human inconsistency and defines a range of acceptable obstacle free robot motion. In previous work, a method was presented to generate robot trajectories for two dimensional motion. Here an alternate algorithm is presented that is extended to include three dimensional motion. The presence of human inconsistency is used to improve robot performance by generating robot trajectories that are shorter than the demonstrated ones and with the addition of a buffer between the robot and the obstacles.< >

关键词： Humans robot programming robot motion programming profession Performance evaluation Education Grippers Motion measurement Anthropometry Educational robots

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robot programming system for assembly: Conceptual graph-based approach

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Journal of Intelligent and robotic Systems: Theory and Applications 1993年第1期8卷 35-62页

作者： Kapitanovsky, A. Maimon, O. Tel-Aviv Univ Tel-Aviv Israel

This work develops a method for robot program synthesis. Currently, the programming task is one of the major hurdles of robotic application. Progress towards automatic synthesis of robot programs will ease industrial robot application. The proposed system provides a means towards automated (guided by knowledge) conversion of a user's request, expressed in natural language, to the appropriate conceptual model of the required task. This model incorporates the information necessary for understanding, planning, and sensory-guided performance of the required robotic task. First, we state the problem of robotic assembly and recognize its hierarchic structure as the structure of a system that builds a predesigned assembly. Next, we present and analyze the requirements of the robotic assembly domain. This analysis enables us to draw conclusions concerning the most suitable methodology for the development of a support system for assembly program synthesis and interpretation. It is the conceptual graph-based approach. Then we present the algorithm of the proposed conceptual graph-based system and show how the system synthesizes robotic assembly operations, such as valid assembly sequences and sequences of special treatments for the assembled components (including the determination of the required resources). Finally, a case study illustrates the approach developed here on a large family of multi-axisymmetric components. We also present illustrative examples of working sessions with the current implementation of the system.

关键词： robot programming

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robot programming by human demonstration: Subtask compliance controller identification

Robot programming by human demonstration: Subtask compliance...

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IEEE International Workshop on Intelligent robots and Systems (IROS)

作者： N. Delson H. West Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA

A programming by human demonstration (PHD) method playback of compliance trajectory is presented which utilizes compliance control to duplicate the human position and force trajectories when the parts being assembled are in the same location as during the demonstration, and will successfully adapt to certain variations in part location. To identify an appropriate compliance that will guarantee successful assembly, a second approach is presented that is based on multiple demonstrations. A criterion for selecting a compliance matrix is identified so that the robot errors in position and the maximum contact force will be less than those of the human, and that the robot will be able to achieve this level of performance as long as variation in workpiece location is not larger than during the demonstrations. The analysis is restricted to tasks which are demonstrated with a consistent sequence of subtasks, where each subtask consists of straight line translational motion.

关键词： robot programming Humans robotic assembly robotics and automation Service robots Force control robot sensing systems Mice Switches robot control

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robot programming by human demonstration: adaptation and inconsistency in constrained motion

Robot programming by human demonstration: adaptation and inc...

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IEEE International Conference on robotics and Automation (ICRA)

作者： N. Delson H. West Department of Mechanical Engineering Yale University New Heaven USA Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA

robot programming by human demonstration is an intuitive programming method designed to facilitate short term robotic applications. The programmer demonstrates the task using a teaching gripper that measures the human's forces and positions, and a robot program is generated from the demonstration data. A direct approach to generating a robot program would be to simply duplicate the demonstrated trajectory, yet with this approach the robot would not be able to adapt to the environment and would also duplicate unnecessary motion included in the demonstration. This article presents an approach for identifying a range of acceptable robot force and motion trajectories from multiple human demonstrations. The resulting robot program can adapt to part misalignment in simple assembly tasks. In addition, inconsistent human motion is not duplicated by the robot, but rather is used to identify task accuracy requirements. The analysis is applied to simple assembly tasks consisting of 3D translation. For each segment of constrained motion, a range of robot compliance is identified that can adapt to part misalignment, and limit robot errors to the task accuracy requirements.

关键词： robot programming Humans robotic assembly Design methodology programming profession Education Grippers Force measurement Position measurement Anthropometry

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Development of State-Based Squeak and an Examination of Its Effect on robot programming Education

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KSII TRANSACTIONS ON INTERNET AND INFORMATION SYSTEMS 2012年第11期6卷 2880-2900页

作者： Aoki, Hiroyuki Kim, JaMee Idosaka, Yukio Kamada, Toshiyuki Kanemune, Susumu Lee, WonGyu Korea Univ Dept Comp Sci Educ Grad Sch Seoul 136701 South Korea Iitakahigashi Jr High Sch Matsusaka Mie 5151502 Japan Aichi Univ Educ Dept Technol Educ Kariya Aichi 4488542 Japan Osaka Electrocommun Univ Fac Biomed Engn Neyagawa Osaka 5728530 Japan

robot programming often sparks students' interest in programming, but it is not easy for them to program both procedure and reactivity of robot movements that are essential requirements. In this study, we reviewed in detail a new programming language, State-Based Squeak. It allows novice students to implement both procedure and reactivity of robots easily. The effect of this new language on robot programming education was also examined using a group of 28 middle school students. According to the results of analyzing the students' understanding of programming, reading and programming abilities the group that used State-Based Squeak (the experimental group) showed a higher completion ratio than the other (control) group. The significance of this study is that a robot programming language has been developed that addresses the concepts of both procedure and reactivity in such a way that middle school students can more easily learn how to program robots, something that is often difficult to attempt even for professional programmers.

关键词： robot programming programming paradigm state control

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VR-Based robot programming and Simulation System for an Industrial robot

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INTERNATIONAL JOURNAL OF INDUSTRIAL ENGINEERING-THEORY APPLICATIONS AND PRACTICE 2008年第3期15卷 314-322页

作者： Jen, Yap Hwa Taha, Zahari Vui, Lee Jer Univ Malaya Fac Engn Dept Engn Design & Manufacture CPDM Kuala Lumpur 50603 Malaysia

Traditional robot programming such as teach by lead etc have been used for many years. These methods are considered not efficient and outdated in the current industrial and market demands. In this paper, virtual reality (VR) technology is used to improve human-robot interface - no complicated command or programming knowledge is required. The system is divided into three major parts: task teaching by demonstration in a computer generated virtual environment, a graphical robot simulator with intelligent robot command generator and last but not least, real task execution. The user is requested to complete the desired task in a virtual teaching system by wearing a data glove attached with a sensor tracker. The process path will be simulated and analyzed to obtain the optimum trajectory. robot motions can be checked through the simulation program and robot program can be generated for the real task execution. Significance: The designed VR-based system has overcome the safety issues and the lack of trained personnel. Simple and user-friendly interfaces are designed for inexperienced staff to generate robot command without damage the robot or interrupting the production line. They can try many times to obtain the optimum solution.

关键词： robot programming virtual reality (VR) human-robot interface process path simulation

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A versatile interaction framework for robot programming based on hand gestures and poses

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robotICS AND COMPUTER-INTEGRATED MANUFACTURING 2023年第1期84卷

作者： Sun, Digang Zhang, Ping Chen, Mingxuan South China Univ Technol Sch Comp Sci & Engn Guangzhou Peoples R China

This paper proposes a framework for industrial and collaborative robot programming based on the integration of hand gestures and poses. The framework allows operators to control the robot via both End-Effector (EE) and joint movements and to transfer compound shapes accurately to the robot. Seventeen hand gestures, which cover the position and orientation controls of the robotic EE and other auxiliary operations, are designed according to cognitive psychology. Gestures are classified by a deep neural network, which is pre-trained for two-hand pose estimation and fine-tuned on a custom dataset, achieving a test accuracy of 99%. The index finger's pointing direction and the hand's orientation are extracted via 3D hand pose estimation to indicate the robotic EE's moving direction and orientation, respectively. The number of stretched fingers is detected via two-hand pose estimation to represent decimal digits for selecting robot joints and inputting numbers. Finally, we integrate these three manners seamlessly to form a programming framework. We conducted two interaction experiments. The reaction time of the proposed hand gestures in indicating randomly given instructions is significantly less than that of other gesture sets, such as American Sign Language (ASL). The accuracy of our method in compound shape reconstruction is much better than that of hand movement trajectory-based methods, and the operating time is comparable with that of teach pendants.

关键词： robot programming Human-robot interaction Hand gesture dataset Hand gesture recognition Hand pose estimation

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Research focuses on robot programming in a virtual environment

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WELDING JOURNAL 1999年第4期78卷 21-23页

作者： [Anonymous]

The Pennsylvania State University, State College, Pa., is currently involved in a research aimed at robot programming in a virtual environment. The result of this effort will be a sophisticated human-machine interface. In this approach, the human will be responsible for tool selection, task conception and strategic perceptualization, while the robot will focus on task executions.

关键词： robot programming

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Augmented reality spatial programming paradigm applied to end-user robot programming

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robotICS AND COMPUTER-INTEGRATED MANUFACTURING 2024年 89卷

作者： Kapinus, Michal Beran, Vitezslav Materna, Zdenek Bambusek, Daniel Brno Univ Technol Fac Informat Technol Bozetechova 1-2 Brno Czech Republic

The market of collaborative robots is thriving due to their increasing affordability. The ability to program a collaborative robot without requiring a highly skilled specialist would increase their spread even more. Visual programming is a prevalent contemporary approach for end-users on desktops or handheld devices, allowing them to define the program logic quickly and easily. However, separating the interface from the robot's task space makes defining spatial features difficult. At the same time, augmented reality can provide spatially situated interaction, which would solve the issue and allow end-users to intuitively program, adapt, and comprehend robotic programs that are inherently highly spatially linked to the real environment. Therefore, we have proposed Spatially Anchored Actions to address the problem of comprehension, programming, and adaptation of robotic programs by end-users, which is a form of visual programming in augmented reality. It uses semantic annotation of the environment and robot hand teaching to define spatially important points precisely. Individual program steps are created by attaching parametrizable, high -level actions to the points. Program flow is then defined by visually connecting individual actions. The interface is specifically designed for tablets, which provide a more immersive experience than phones and are more affordable and wellknown by users than head-mounted displays. The realized prototype of a handheld AR user interface was compared against a commercially available desktop-based visual programming solution in a user study with 12 participants. According to the results, the novel interface significantly improves comprehension of pick and place-like programs, improves spatial information settings, and is more preferred by users than the existing tool.

关键词： robot programming Augmented reality SME future

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Application of robot programming to the Teaching of Object-Oriented Computer Languages

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INTERNATIONAL JOURNAL OF ENGINEERING EDUCATION 2016年第4期32卷 1823-1832页

作者： Corral, J. M. Rodriguez Morgado-Estevez, A. Cabrera, D. Molina Perez-Pena, F. Rodriguez, C. A. Amaya Balcells, A. Civit Sch Engn Ave Univ Cadiz 10 Puerto Real 11519 Cadiz Spain Tech Sch Comp Engn Ave Reina Mercedes S-N Seville 41012 Spain

Object-oriented programming (OOP) abstract concepts are often difficult to understand for students, since it is not easy to find the equivalence of such concepts in daily life. In this paper we will study if an interdisciplinary approach based on an introduction to robotics and robot programming helps the student in acquiring the OOP concepts. For our experiments, we selected a sample of thirty individuals among students with an adequate knowledge of procedural programming. This sample was divided into two groups of fifteen students each: for the first one we used a standard introductory approach to C#, whereas for the second one we developed an experimental course that included a demonstration program that illustrated OOP basic concepts using the features of a specific type of commercial ball-shaped robot with sensing, wireless communication and output capabilities. After the courses, both groups were evaluated by completing a multiple-choice exam and a C# programming exercise. Our results show that the student group that attended the course including the robot demo showed a higher interest level (i.e. they felt more motivated) than those students that attended the standard introductory C# course. Furthermore, the students from the experimental group also achieved an overall better mark.

关键词： interdisciplinary projects mobile robots object-oriented programming robot programming teaching-learning strategies

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