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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. Masterarbeit. Technical University of Munich.

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Kurzfassung

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.

elib-URL des Eintrags:https://elib.dlr.de/141785/
Dokumentart:Berichtsreihe (DLR-Interner Bericht, Masterarbeit)
Titel:Intuitive Knowledge Representations for Interactive Robot Programming
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Liebl, JohannaTechnical University of MunichNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Datum:15 April 2021
Referierte Publikation:Nein
Open Access:Ja
Status:veröffentlicht
Stichwörter: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
Abteilung:Department of Electrical and Computer Engineering
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Robotik
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R RO - Robotik
DLR - Teilgebiet (Projekt, Vorhaben):R - Intuitive Mensch-Roboter Schnittstelle [RO], R - Mensch-Maschine Interaktion
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013)
Hinterlegt von: Eiband, Thomas
Hinterlegt am:28 Apr 2021 14:54
Letzte Änderung:01 Jul 2021 03:00

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