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Evaluating Exemplary Training Accelerators for Programming-by-Demonstration

Hulin, Thomas and Schmirgel, Volker and Yechiam, Eldad and Zimmermann, Uwe and Preusche, Carsten and Pöhler, Gloria (2010) Evaluating Exemplary Training Accelerators for Programming-by-Demonstration. In: Proceedings of, pp. 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

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.

Document Type:Conference or Workshop Item (Paper)
Title:Evaluating Exemplary Training Accelerators for Programming-by-Demonstration
Authors:
AuthorsInstitution or Email of Authors
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
Date:September 2010
Journal or Publication Title:Proceedings of
Refereed publication:Yes
In ISI Web of Science:Yes
Page Range:pp. 467-472
ISBN:978-1-4244-7989-4
Status:Published
Keywords:Programming-by-demonstration, Multimodal Training, singularity, Evaluation
Event Title:19th International Symposium in Robot und Human Interactive Communication
Event Location:Viareggio; italy
Event Type:international Conference
Event Dates:12-15 Sept 2010
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: Carsten Preusche
Deposited On:08 Oct 2010 09:36
Last Modified:12 Dec 2013 21:02

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