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Collaborative programming of robotic task decisions and recovery behaviors

Eiband, Thomas and Willibald, Christoph and Tannert, Isabel and Weber, Bernhard and Lee, Dongheui (2022) Collaborative programming of robotic task decisions and recovery behaviors. Autonomous Robots. Springer. doi: 10.1007/s10514-022-10062-9. ISSN 0929-5593.

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Official URL: https://link.springer.com/article/10.1007/s10514-022-10062-9


Programming by demonstration is reaching industrial applications, which allows non-experts to teach new tasks without manual code writing. However, a certain level of complexity, such as online decision making or the definition of recovery behaviors, still requires experts that use conventional programming methods. Even though, experts cannot foresee all possible faults in a robotic application. To encounter this, we present a framework where user and robot collaboratively program a task that involves online decision making and recovery behaviors. Hereby, a task-graph is created that represents a production task and possible alternative behaviors. Nodes represent start, end or decision states and links define actions for execution. This graph can be incrementally extended by autonomous anomaly detection, which requests the user to add knowledge for a specific recovery action. Besides our proposed approach, we introduce two alternative approaches that manage recovery behavior programming and compare all approaches extensively in a user study involving 21 subjects. This study revealed the strength of our framework and analyzed how users act to add knowledge to the robot. Our findings proclaim to use a framework with a task-graph based knowledge representation and autonomous anomaly detection not only for initiating recovery actions but particularly to transfer those to a robot.

Item URL in elib:https://elib.dlr.de/192299/
Document Type:Article
Title:Collaborative programming of robotic task decisions and recovery behaviors
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Eiband, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-1074-9504UNSPECIFIED
Willibald, ChristophUNSPECIFIEDhttps://orcid.org/0000-0003-3579-4130UNSPECIFIED
Weber, BernhardUNSPECIFIEDhttps://orcid.org/0000-0002-7857-0201UNSPECIFIED
Lee, DongheuiUNSPECIFIEDhttps://orcid.org/0000-0003-1897-7664UNSPECIFIED
Date:31 October 2022
Journal or Publication Title:Autonomous Robots
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:Learning from demonstration; Programming by demonstration; Collaborative programming; Interactive programming; Anomaly detection; Recovery behavior; Task-graph; Conditional task; Force-based tasks; Execution monitoring
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 - Interacting Robot Control [RO], R - Autonomous learning robots [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Management
Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Eiband, Thomas
Deposited On:14 Dec 2022 19:54
Last Modified:19 Dec 2022 14:44

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