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Skill parametrization approaches and skill architecture for human-robot interaction

Steinmetz, Franz and Weitschat, Roman (2016) Skill parametrization approaches and skill architecture for human-robot interaction. In: CASE, pp. 280-285. IEEE. IEEE International Conference on Automation Science and Engineering (CASE 2016), 21.-25. Aug. 2016, Fort Worth, Texas, USA. doi: 10.1109/COASE.2016.7743419. ISBN 978-1-5090-2409-4.

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Official URL: http://ieeexplore.ieee.org/abstract/document/7743419/


There is an ongoing shift in industries from mass production to low-batch-production with highly individualized goods. This increases the programming effort required for the producing machines and robots, which is currently carried out by robot experts. For keeping the production economical, new programming approaches are required, allowing shop-floor workers to instruct robots. One approach is to develop robotic skills, which are pre-programmed software modules that only need to be parametrized by the shop-floor user. In this paper, a new software architecture for robot skills is presented, which aims at robustness and human-robot interaction. In addition, four basic demands on the skill parametrization are described that fasten up the process and increase intuitiveness for the user. We give several examples and implement a screwing skill and a pick & place skill, which are demonstrated in two case studies.

Item URL in elib:https://elib.dlr.de/109779/
Document Type:Conference or Workshop Item (Speech)
Title:Skill parametrization approaches and skill architecture for human-robot interaction
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Steinmetz, FranzUNSPECIFIEDhttps://orcid.org/0000-0002-1481-9215UNSPECIFIED
Journal or Publication Title:CASE
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 280-285
Keywords:batch processing (industrial);batch production systems;control engineering computing;human-robot interaction;industrial robots;production engineering computing;robot programming;software architecture;human-robot interaction;industrial manufacturing;low-batch-production;robot programming;robotic skill architecture;robotic skill parametrization;software architecture;software module;Fasteners;Observers;Programming;Service robots;Software
Event Title:IEEE International Conference on Automation Science and Engineering (CASE 2016)
Event Location:Fort Worth, Texas, USA
Event Type:international Conference
Event Dates:21.-25. Aug. 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Autonomy & Dexterity [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Steinmetz, Franz
Deposited On:20 Dec 2016 11:14
Last Modified:31 Jul 2019 20:07

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