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Leveraging on a virtual environment for robot programming by demonstration

robotICS AND AUTONOMOUS SYSTEMS 2004年第2-3期47卷 153-161页

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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An open source graphical robot programming environment in introductory programming curriculum for undergraduates

An open source graphical robot programming environment in in...

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IEEE International Conference on MOOCs, Innovation and Technology in Education (IEEE MITE)

作者： Rahul, R. Whitchurch, Ashwin Rao, Madhav Int Inst Informat Technol Bangalore 560100 Karnataka India Protocentral Bangalore 560075 Karnataka India

ISBN: (纸本)9781479968763

A graphical programming tool is developed in a view to help beginners realize the importance of coding in the form of physical robotic movement. Introducing a programming language to students with no background is often felt to be challenging in terms of syntax and control flow of a language. The paper discusses an open source graphical programming tool built on Minibloq platform that allows students to focus more on creative part of programming. The paper proposes a graphical approach to programming where a student need not remember any constructs of a programming language, but relies on the approach to solve a problem. The programming utility is developed for an open source Arduino platform. Currently the tool is developed to control a real robot built around Arduino platform. Thus a platform to learn fundamentals of programming as well as robotics is made available to students. The graphical programming tool with the robotic hardware was found to be easy to learn by high school students during an outreach program conducted by the authors. The framework is also extendable beyond programming and can be further developed to understand robotics.

关键词： control engineering computing control engineering education further education mobile robots public domain software robot programming software tools Minibloq platform introductory programming curriculum open source Arduino platform open source graphical programming tool open source graphical robot programming environment physical robotic movement undergraduates Educational robots Hardware programming profession robot sensing systems Software college student robot programming programming profession open source software control engineering computing Manipulator sensing systems Continuing Education control engineering education programming Computer hardware Software Tools Mobile robots Students computer software Computer programming Languages

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K-RAPID: A Formal Executable Semantics of the RAPID robot programming Language 10

K-RAPID: A Formal Executable Semantics of the RAPID Robot Pr...

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10th ACM Cyber-Physical System Security Workshop (ACM CPSS)

作者： Wang, Zichen Wang, Jingyi Song, Fu Wang, Kun Pu, Hongyi Cheng, Peng Zhejiang Univ Coll Control Sci & Engn Hangzhou Peoples R China Chinese Acad Sci Key Lab Syst Software Beijing Peoples R China Chinese Acad Sci Inst Software State Key Lab Comp Sci Beijing Peoples R China

ISBN: (纸本)9798400704208

Industrial robots are widely used in industrial production as mechanical devices. It is essential to guarantee that their control software operates safely and properly, as any functional or security-related defects may lead to serious incidents. However, industrial robots are programmed mostly in proprietary languages varying from vendor to vendor, making it challenging to formally analyze their correctness in a unified way. One of the most representative robot programming languages is the RAPID language proposed by ABB robotics. In this paper, we present K-RAPID, a formal executable semantics of RAPID in the K-Framework (K). K-RAPID is developed according to the official ABB documentation and defined in a generic extensible manner. It can be used either for validating the correctness of compiler implementation or analyzing the control programs written in RAPID. We evaluate the correctness of K-RAPID by executing 563 test programs collected from multiple sources and comparing the results against the official robot simulation environment robotStudio. The results suggest that K-RAPID covers the core features of RAPID correctly. Moreover, we show how we could apply K-RAPID to verify RAPID programs using LTL model checking and to provide a formal specification of RAPID to uncover inappropriate behaviors in the programs.

关键词： Industrial robots Formal methods in robotics and automation robot programming RAPID language K-Framework

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A Hybrid Approach of No-Code robot programming for Agile Production: Integrating Finger-Gesture and Point Cloud 33

A Hybrid Approach of No-Code Robot Programming for Agile Pro...

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33rd IEEE International Conference on robot and Human Interactive Communication (IEEE RO-MAN) - Embracing Human-Centered HRI

作者： Halim, Jayanto Eichler, Paul Krusche, Sebastian Bdiwi, Mohamad Ihlenfeldt, Steffen Fraunhofer Inst Machine Tools & Forming Technol Grp Collaborat Robot Syst D-09126 Chemnitz Germany Fraunhofer Inst Machine Tools & Forming Technol Dept Prod Syst & Factory Automat D-09126 Chemnitz Germany

ISBN: (纸本)9798350375039;9798350375022

Industrial robot programming necessitates specialized expertise and significant time commitment, particularly for small-batch productions. In response to the escalating demand for production agility, novel approaches have emerged in intuitive robot programming. These inventive systems, rooted in diverse conceptual frameworks, are designed to expedite the deployment of robot systems. A prominent innovation in this domain is adopting no-code robot programming through finger-based gestures. A robot program can be generated by capturing and tracking non-expert users' finger movements and gestures, converting 3D coordinates into an executable robot programming language. However, accurately determining finger positions for 3D coordinates and precise geometrical features presents an ongoing challenge. In pursuit of heightened trajectory precision and reducing more significant effort for the users, we propose a hybrid methodology that amalgamates finger-gesture programming with point cloud data. This synergistic integration demonstrates promising outcomes, substantiating its potential to facilitate the precise and adaptive generation of robot paths within robot applications.

关键词： robot programming

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MINERIC Toolkit: Measuring Instruments to Evaluate Robustness and Intuitiveness of robot programming Concepts 26

MINERIC Toolkit: Measuring Instruments to Evaluate Robustnes...

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26th IEEE International Symposium on robot and Human Interactive Communication (RO-MAN)

作者： Orendt, Eric M. Fichtner, Myriel Henrich, Dominik Univ Bayreuth Robot & Embedded Syst Chair Appl Comp Sci 3 D-95445 Bayreuth Germany

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.

关键词： Usability robot programming Instruments Robustness

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Blockly in a Box: How Children Explore Block-Based robot programming 19

Blockly in a Box: How Children Explore Block-Based Robot Pro...

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19th International Conference on Ubiquitous robots (UR)

作者： Sutherland, Craig J. Univ Auckland Fac Engn Auckland New Zealand

ISBN: (纸本)9781665482530

Block-based programming languages are often used as a starting point in teaching children to program. These languages provide a simplified entry point into programming;they are popular for teaching children how to program robots. However, most studies have focused on children's engagement, enjoyment and learning rather than how children explore a block-based programming environment. This paper provides some preliminary results from how children use a programming environment for a Nao robot. These results show children initially focus on short, external manifestations, such as getting the robot to speak and move, rather than exploring the available functionality. Very few children explore the full functionality available.

关键词： Computer languages Education robots programming environments robot programming

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Simulation Framework for Virtual robot programming in Reconfigurable Production Systems 7

Simulation Framework for Virtual Robot Programming in Reconf...

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7th CIRP Global Web Conference on Towards Shifted Production Value Stream Patterns through Inference of Data, Models, and Technology (CIRPe)

作者： Brecher, Christian Wein, Stephan Xu, Xiaomei Storms, Simon Herfs, Werner Rhein Westfal TH Aachen Werkzeugmaschinenlab WZL Steinbachstr 19 D-52074 Aachen Germany

Flexible, autonomous production systems form the basis for mastering increasing product diversity and customer-specific production. Industrial robots and modularization play a decisive role here, as they support the automation of complex processes and the reconfiguration of production systems. Yet, a change in the mechanical configuration of a production system always results in big efforts for robot programming. Standard teach-in solutions for robot programming are not suitable for highly varying configurations. An automated, adaptive path planning via simulation is necessary to fill this gap and even allow robot programming for non-expert persons. This paper presents a modular framework for automated robot path simulation and virtual robot programming in reconfigurable production systems, based on service oriented architectures and modularization. The framework is evaluated using a reconfigurable production system for flexible cultivation and differentiation of stem cells, the iCellFactory. Within the system, a gantry-mounted six-axis robot transports fluid filled vessels between multiple, freely positioned modules carrying laboratory devices. (C) 2019 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the scientific committee of the 7th CIRP Global Web Conference

关键词： autonomous production systems robot programming simulation service oriented architecture framework modular reconfigurable systems

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Automatic robot programming from learned abstract task knowledge

Automatic robot programming from learned abstract task knowl...

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IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Knoop, Steffen Pardowitz, Michael Dillmann, Ruediger Univ Karlsruhe Inst Comp Sci & Engn IAIM Karlsruhe Germany

ISBN: (纸本)9781424409129

robots with the capability of learning new tasks from humans need the ability to transform gathered abstract task knowledge into their own representation and dimensionality. New task knowledge that has been acquired e.g. with programming by Demonstration approaches by observing a human does not a-priori contain any robot-specific knowledge and actions, and is defined in the workspace and action space of the human demonstrator. This paper presents an approach for mapping abstract human-centered task knowledge to a robot execution system based on the target system properties. Therefore the required background knowledge about the target system is examined and defined explicitely. The mapping process is described based on this knowledge, and experiments and an evaluation are given.

关键词： robot programming

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Cognitive robot programming using Procedural Parameters and Complex Event Processing

Cognitive Robot Programming using Procedural Parameters and ...

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IEEE International Conference on Simulation, Modeling, and programming for Autonomous robots (SIMPAR)

作者： Erich, Floris Suzuki, Kenji Univ Tsukuba Sch Integrat & Global Majors SIGMA 1-1-1 Tennodai Tsukuba Ibaraki Japan Univ Tsukuba Fac Engn Informat & Syst Tsukuba Ibaraki Japan

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.

关键词： robot programming

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Lighting- and Occlusion-Robust View-Based Teaching/Playback for Model-Free robot programming 14th

Lighting- and Occlusion-Robust View-Based Teaching/Playback ...

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14th International Conference on Intelligent Autonomous Systems (IAS)

作者： Maeda, Yusuke Saito, Yoshito Yokohama Natl Univ Fac Engn Hodogaya Ku 79-5 Tokiwadai Yokohama Kanagawa 2408501 Japan Ricoh Corp Tokyo Japan

ISBN: (纸本)9783319480367;9783319480350

In this paper, we investigate a model-free method for robot programming referred to as view-based teaching/playback. It uses neural networks to map factor scores of input images onto robot motions. The method can achieve greater robustness to changes in the task conditions, including the initial pose of the object, as compared to conventional teaching/playback. We devised an online algorithm for adaptively switching between range and grayscale images used in view-based teaching/playback. In its application to pushing tasks using an industrial manipulator, view-based teaching/playback using the proposed algorithm succeeded even under changing lighting conditions. We also devised an algorithm to cope with occlusions using subimages, which worked successfully in experiments.

关键词： robot programming View-based approach Neural network Principal component analysis

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