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Identification of Common Force-based Robot Skills from the Human and Robot Perspective

Eiband, Thomas and 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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Official URL: https://ieeexplore.ieee.org/document/9555681


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.

Item URL in elib:https://elib.dlr.de/143584/
Document Type:Conference or Workshop Item (Lecture)
Additional Information:Factory of the Future
Title:Identification of Common Force-based Robot Skills from the Human and Robot Perspective
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Eiband, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-1074-9504UNSPECIFIED
Lee, DongheuiUNSPECIFIEDhttps://orcid.org/0000-0003-1897-7664UNSPECIFIED
Date:July 2021
Journal or Publication Title:20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords: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
Event Title:IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)
Event Location:Munich, Germany
Event Type:international Conference
Event Start Date:19 July 2021
Event End Date:21 July 2021
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 - Autonomous learning robots [RO], R - Explainable Robotic AI, R - Intuitive human-robot interface [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Eiband, Thomas
Deposited On:26 Nov 2021 10:49
Last Modified:24 Apr 2024 20:43

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