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Comprehension of Operating a Robot by Enactive Learning: Exemplary Approaches with Programming-by-Demonstration

Schmirgel, Volker and Zimmermann, Uwe E. and Yechiam, Eldad and Hulin, Thomas and Preusche, Carsten (2009) Comprehension of Operating a Robot by Enactive Learning: Exemplary Approaches with Programming-by-Demonstration. SKILLS09 International Conference on Multimodal Interfaces for Skills Transfer.

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Abstract

Robot Programming-by-Demonstration demands two skills from the user, understanding the task that is to be programmed, and comprehending how to use the robotic system. This article is about training the user those skills that are necessary for the latter requirement. The robotic system is based on the DLR/KUKA light-weight robot, which allows direct human-machine interaction and compliant motions. An augmented reality and a virtual reality setup are presented that aim to demonstrate and evaluate skills transfer of two different sub-tasks of this system: avoiding robot singularities and setting correct compliance parameters. For this purpose training accelerators are introduced for (1) visualising robot singularities, (2) exploring robot singularities, and (3) feeling compliance parameters. An evaluation procedure for these accelerators is suggested.

Document Type:Article
Title:Comprehension of Operating a Robot by Enactive Learning: Exemplary Approaches with Programming-by-Demonstration
Authors:
AuthorsInstitution or Email of Authors
Schmirgel, VolkerVolkerSchmirgel@kuka-roboter.de
Zimmermann, Uwe E.UweZimmermann@kuka-roboter.de
Yechiam, Eldadyeldad@techunix.technion.ac.il
Hulin, ThomasThomas.Hulin@dlr.de
Preusche, CarstenCarsten.Preusche@dlr.de
Date:16 December 2009
Journal or Publication Title:SKILLS09 International Conference on Multimodal Interfaces for Skills Transfer
Editors:
EditorsEmail
Gutiérrez, Teresatere@labein.es
Sánchez, Emilioesanchez@ceit.es
Status:Published
Keywords:Robot Programming-by-Demonstration, compliant motion, light-weight robot, skill transfer, training accelerator
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Thomas Hulin
Deposited On:18 Jan 2010 09:20
Last Modified:12 Dec 2013 20:52

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