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Intuitive Knowledge Representations for Interactive Robot Programming

Liebl, Johanna (2021) Intuitive Knowledge Representations for Interactive Robot Programming. DLR-Interner Bericht. DLR-IB-RM-OP-2021-51. Master's. Technical University of Munich.

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Programming by Demonstration (PbD) is an intuitive method to transfer knowledge from a non-expert human teacher to a robot. To allow the non-expert user to intuitively understand what the robot has learned from the demonstration, we propose a framework that detects online which skills the human is demonstrating and builds from that a graph that describes how the task is performed. The skill recognition is achieved by a segmentation algorithm that combines symbolic skill segmentation, which makes use of pre- and postconditions to identify skills, with data-driven segmentation, which uses Support Vector Machines to learn to classify the skills from data. The framework is thus able to detect force-based skills in addition to manipulation skills, to allow the flexible use of robots in assembly production lines. The intuitiveness of the framework is evaluated in a user study that compares the task graph representation of our framework to the time-line based representation of an existing PbD framework that does not make use of skill recognition.

Item URL in elib:https://elib.dlr.de/141785/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Intuitive Knowledge Representations for Interactive Robot Programming
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Liebl, JohannaTechnical University of MunichUNSPECIFIEDUNSPECIFIED
Date:15 April 2021
Refereed publication:No
Open Access:Yes
Keywords:Learning from Demonstration, Programming by Demonstration, Skill Recognition, Skill Classification, Force-based Skills, Knowledge Representation, Explainability, Semantic Segmentation, Data-driven Segmentation
Institution:Technical University of Munich
Department:Department of Electrical and Computer Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Intuitive human-robot interface [RO], R - Human-machine interaction
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Eiband, Thomas
Deposited On:28 Apr 2021 14:54
Last Modified:01 Jul 2021 03:00

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