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Intuitive Task-Level Programming by Demonstration through Semantic Skill Recognition

Steinmetz, Franz and Nitsch, Verena and Stulp, Freek (2019) Intuitive Task-Level Programming by Demonstration through Semantic Skill Recognition. IEEE Robotics and Automation Letters, 4 (4), pp. 3742-3749. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/LRA.2019.2928782 ISSN 2377-3766

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Official URL: https://ieeexplore.ieee.org/document/8763979

Abstract

Intuitive robot programming for non-experts will be essential to increasing automation in small and medium-sized enterprises (SMEs). Programming by Demonstration (PbD) is a fast and intuitive approach, whereas programs created with Task-Level Programming (TLP) are easy to understand and flexible in their execution. In this paper, we propose an approach which combines these complementary advantages of PbD and TLP. Users define complete task-level programs including all parameters through PbD alone. Therefore, we call this approach Task-Level Programming by Demonstration (TLPbD). TLPbD extends skill-based approaches by enabling experts to semantically annotate robot skills with their conditions and effects, which facilitates online skill recognition from pure demonstrations by a non-expert. In a user study with 21 participants, the approach is compared with an existing intuitive TLP approach. The results show that the new approach drastically reduces the programming time while at the same time being more intuitive, reducing mental load, and achieving the same or even better skill sequences.

Item URL in elib:https://elib.dlr.de/128339/
Document Type:Article
Title:Intuitive Task-Level Programming by Demonstration through Semantic Skill Recognition
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Steinmetz, FranzFranz.Steinmetz (at) dlr.dehttps://orcid.org/0000-0002-1481-9215
Nitsch, Verenav.nitsch (at) iaw.rwth-aachen.dehttps://orcid.org/0000-0002-4784-1283
Stulp, FreekFreek.Stulp (at) dlr.dehttps://orcid.org/0000-0001-9555-9517
Date:2019
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:4
DOI :10.1109/LRA.2019.2928782
Page Range:pp. 3742-3749
Editors:
EditorsEmail
Okamura, AllisonUNSPECIFIED
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Human-Centered Automation, Learning from Demonstration, Intelligent and Flexible Manufacturing, Cognitive Human-Robot Interaction
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Steinmetz, Franz
Deposited On:15 Jul 2019 11:52
Last Modified:05 Aug 2019 09:46

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