Publikationsdatenbank
Publication
One-Shot Robot Programming by Demonstration by Adapting Motion SegmentsChristian 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: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?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{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=groth2014b}",
}
Download
| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| groth2014b.OneShot.Robot.Programming.by.Demonstration.by.Ada pting.Motion.Segments.pdf |
1.3M | english | download preprint |