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One-Shot Robot Programming by Demonstration by Adapting Motion Segments
Christian Groth , Dominik Henrich

Abstract (deutsch)
In order to provide robots for a wide range of
users, they must be easily programmable. This is addressed by
various approaches of programming a robot by demonstration,
where the user guides a robot through the task.
We propose an approach that adapts a once demonstrated
trajectory to a new situation. The system extracts the relevant
reference frames using a weighting function. Then, the demon-
strated trajectory is segmented with respect to these frames
and different frame-dependent strategies for reproduction are
applied. The approach is capable of adapting simple point-to-
point paths, more complex tasks like pick-and-place operations,
and manipulations where objects are used as tools. Additionally,
the system extracts the required resources for a task to integrate
the approach into a behavior-based system, which manages
new programmed behaviors and selects a suitable behavior
in a new situations. The approach is computationally efficient
and comprehensible for the user. We evaluated the approach
qualitatively and quantitatively using cross validation.

Publication data

Year: 2013
Publication date: 05. December 2014
Project: INTROP
Keywords (deutsch): intuitive roboter programmierung
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=groth2014b

BibTeX

@ARTICLE{groth2014b,
  TITLE             = "One-Shot Robot Programming by Demonstration by Adapting Motion Segments",
  AUTHOR            = "Groth, Christian and Henrich, Dominik",
  YEAR              = "2013",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=groth2014b}",
}

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groth2014b.OneShot.Robot.Programming.by.Demonstration.by.Adapting.Motion.Segments.pdf   1.3M   english   PDF   download preprint


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