Eiband, Thomas und Lee, Dongheui (2021) Identification of Common Force-based Robot Skills from the Human and Robot Perspective. In: 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020. IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021-07-19 - 2021-07-21, Munich, Germany. doi: 10.1109/HUMANOIDS47582.2021.9555681. ISBN 978-172819372-4. ISSN 2164-0572.
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Offizielle URL: https://ieeexplore.ieee.org/document/9555681
Kurzfassung
Learning from Demonstration (LfD) can significantly speed up the knowledge transfer from human to robot, which has been proven for relatively unconstrained actions such as pick and place. However, transferring contact or force-based skills (contact skills) to a robot is noticeably harder since force and position constraints need to be considered simultaneously. We propose a set of contact skills, which differ in the force and kinematic constraints. In a first user study, several subjects were asked to term a variety of force-based interactions, from which skill names were derived. In a second and third user study, the identified skill names are used to let a test group of subjects classify the shown interactions. To evaluate the skill recognition from the robot perspective, we propose a feature-based classification scheme to recognize such skills with a robotic system in a LfD setting. Our findings prove that humans are able to understand the meaning of the different skills and, using the classification pipeline, the robot is able to recognize the different skills from human demonstrations.
elib-URL des Eintrags: | https://elib.dlr.de/143584/ | ||||||||||||
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Dokumentart: | Konferenzbeitrag (Vorlesung) | ||||||||||||
Zusätzliche Informationen: | Factory of the Future | ||||||||||||
Titel: | Identification of Common Force-based Robot Skills from the Human and Robot Perspective | ||||||||||||
Autoren: |
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Datum: | Juli 2021 | ||||||||||||
Erschienen in: | 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020 | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Ja | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Ja | ||||||||||||
In ISI Web of Science: | Ja | ||||||||||||
DOI: | 10.1109/HUMANOIDS47582.2021.9555681 | ||||||||||||
ISSN: | 2164-0572 | ||||||||||||
ISBN: | 978-172819372-4 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Robots; contact-based skills; force-based skills; context understanding; skill learning; learning from demonstration; lfd; programming by demonstration; pbd; decision support system; intuitive programming; interactive teaching; interactive classification | ||||||||||||
Veranstaltungstitel: | IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) | ||||||||||||
Veranstaltungsort: | Munich, Germany | ||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||
Veranstaltungsbeginn: | 19 Juli 2021 | ||||||||||||
Veranstaltungsende: | 21 Juli 2021 | ||||||||||||
Veranstalter : | IEEE-RAS | ||||||||||||
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 - Autonome, lernende Roboter [RO], R - Erklärbare Robotische KI, R - Intuitive Mensch-Roboter Schnittstelle [RO] | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||
Hinterlegt von: | Eiband, Thomas | ||||||||||||
Hinterlegt am: | 26 Nov 2021 10:49 | ||||||||||||
Letzte Änderung: | 24 Apr 2024 20:43 |
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