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Evaluating Exemplary Training Accelerators for Programming-by-Demonstration

Hulin, Thomas und Schmirgel, Volker und Yechiam, Eldad und Zimmermann, Uwe und Preusche, Carsten und Pöhler, Gloria (2010) Evaluating Exemplary Training Accelerators for Programming-by-Demonstration. In: Proceedings of, Seiten 467-472. 19th International Symposium in Robot und Human Interactive Communication, 12-15 Sept 2010, Viareggio; italy. ISBN 978-1-4244-7989-4.

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Abstract— Robot Programming by Demonstration requires comprehending the usage of a robotic system. This article is about accelerating the training of these skills, using the example of a DLR/KUKA light-weight robot. 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 com- pliance parameters. For this purpose training accelerators are introduced for visualisinAbstract— Robot Programming by Demonstration requires comprehending the usage of a robotic system. This article is about accelerating the training of these skills, using the example of a DLR/KUKA light-weight robot. 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 com- pliance parameters. For this purpose training accelerators are introduced for visualising robot singularities, exploring robot singularities and feeling compliance parameters. An evaluation procedure for all three accelerators is suggested and has been performed on the first two. As interesting evaluation result a contrast to the Cognitive Theory of Multimedia Learning hypothesis could be observed: Additional visual information on the robot singularities impairs the participants’ performance. g robot singularities, exploring robot singularities and feeling compliance parameters. An evaluation procedure for all three accelerators is suggested and has been performed on the first two. As interesting evaluation result a contrast to the Cognitive Theory of Multimedia Learning hypothesis could be observed: Additional visual information on the robot singularities impairs the participants’ performance.

Dokumentart:Konferenzbeitrag (Paper)
Titel:Evaluating Exemplary Training Accelerators for Programming-by-Demonstration
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Hulin, ThomasInstitute of Robotics, DLR, Germany
Schmirgel, VolkerKUKA Roboter GmbH, Germany
Yechiam, EldadTechnion, Institute of Technology, Israel
Zimmermann, UweKUKA Roboter GmbH, Germany
Preusche, CarstenInstitute of Robotics, DLR, Germany
Pöhler, GloriaInstitute of Robotics, DLR, Germany
Datum:September 2010
Erschienen in:Proceedings of
Referierte Publikation:Ja
In ISI Web of Science:Ja
Seitenbereich:Seiten 467-472
ISBN:978-1-4244-7989-4
Status:veröffentlicht
Stichwörter:Programming-by-demonstration, Multimodal Training, singularity, Evaluation
Veranstaltungstitel:19th International Symposium in Robot und Human Interactive Communication
Veranstaltungsort:Viareggio; italy
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:12-15 Sept 2010
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Robotersysteme
Hinterlegt von: Carsten Preusche
Hinterlegt am:08 Okt 2010 09:36
Letzte Änderung:12 Dez 2013 21:02

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