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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


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
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Steinmetz, FranzUNSPECIFIEDhttps://orcid.org/0000-0002-1481-9215UNSPECIFIED
Nitsch, VerenaUNSPECIFIEDhttps://orcid.org/0000-0002-4784-1283UNSPECIFIED
Stulp, FreekUNSPECIFIEDhttps://orcid.org/0000-0001-9555-9517UNSPECIFIED
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 3742-3749
EditorsEmailEditor's ORCID iDORCID Put Code
Publisher:IEEE - Institute of Electrical and Electronics Engineers
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 System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
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:03 Nov 2023 09:35

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