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One-Shot Robot Programming by Demonstration using an Online Oriented Particles Simulation
Christian Groth , Dominik Henrich

Abstract (deutsch)
To provide robots for a wide range of users,
there needs to be an easy and intuitive way to program
them. This issue is addressed by the robot programming by
demonstration paradigm, where the user demonstrates the task
to the robot. While there exist a lot approaches that use
multiple demonstrations for the learning procedure, single-shot
robot programming by demonstration is still a niche. Also, all
available approaches in this niche have severe drawbacks.
The main contribution of this work is a novel one-shot pro-
gramming by demonstration approach, that performs an online
adaption of a provided trajectory to a new situation. For that,
the system regards every sample of the trajectory and every
reference (object) in the scene as a particle. These particles
interfere with each other by forces and torques that arise from
inherent potential fields. Thus, in a new situation the trajectory
will adapt to the potential fields of the relocated references
and converge to a minimum energy state. We evaluated the
approach qualitatively and quantitatively using cross validation.

Publication data

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=groth2014c

BibTeX

@ARTICLE{groth2014c,
  TITLE             = "One-Shot Robot Programming by Demonstration using an Online Oriented Particles Simulation",
  AUTHOR            = "Groth, Christian and Henrich, Dominik",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=groth2014c}",
}

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Filename   Size   Language   Format
groth2014c.OneShot.Robot.Programming.by.Demonstration.using.an.Online.Oriented.Particles.Simulation.pdf   3.4M   english   PDF   download preprint


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