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Hartwig, Johannes ; Kögler, Marcello ; Henrich, Dominik:
Neural Network-Based In-Contact Task Segmentation of Demonstrated Robot Motions via Hand Guiding.
2025
Veranstaltung: 1st German Robotics Conference
, 13.-15. March 2025
, Nuremberg.
(Veranstaltungsbeitrag: Kongress/Konferenz/Symposium/Tagung
,
Paper
)
Abstract
Intuitive robot programming approaches, such as Programming by Demonstration, enable non-experts to teach robots tasks through hand-guided demonstrations. However, for in-contact tasks requiring force control for parts of the motion, automated segmentation of motion types is crucial for improving usability. Considering the related work, this work proposes a neural network-based segmentation method categorizing motion into three fundamental types using input data of cartesian twists and wrenches at the end effector. We collect demonstration data using a 7-axis robot with a wrist-mounted force torque sensor and generate ground truth labeling by hand. While still in development, our research direction aims to enable non-experts to program in-contact tasks more intuitively.
Weitere Angaben
| Publikationsform: | Veranstaltungsbeitrag (Paper) |
|---|---|
| Begutachteter Beitrag: | Nein |
| Zusätzliche Informationen: | Accepted for publication at 1st German Robotics Conference (to appear) |
| Institutionen der Universität: | Fakultäten > Fakultät für Mathematik, Physik und Informatik > Institut für Informatik > Lehrstuhl Angewandte Informatik III > Lehrstuhl Angewandte Informatik III - Univ.-Prof. Dr. Dominik Henrich |
| Titel an der UBT entstanden: | Ja |
| Themengebiete aus DDC: | 000 Informatik,Informationswissenschaft, allgemeine Werke > 004 Informatik |
| Eingestellt am: | 22 Jul 2025 07:03 |
| Letzte Änderung: | 22 Jul 2025 07:03 |
| URI: | https://eref.uni-bayreuth.de/id/eprint/94264 |