One-Shot Robot Programming by Demonstration by Adapting Motion Segments

Titelangaben

Groth, Christian ; Henrich, Dominik:
One-Shot Robot Programming by Demonstration by Adapting Motion Segments.
In: IEEE International Conference on Robotics and Biomimetics. - Bali, Indonesia , 2014 . - S. 1068-1075
DOI: https://doi.org/10.1109/ROBIO.2014.7090474

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Abstract

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 demonstrated 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.