Mayershofer, Luisa und Lehner, Peter und Leidner, Daniel und Albu-Schäffer, Alin Olimpiu (2023) Task-Level Programming by Demonstration for Mobile Robotic Manipulators through Human Demonstrations based on Semantic Skill Recognition. In: 56th International Symposium on Robotics, ISR Europe 2023. VDE Verlag GmbH. 56th International Symposium on Robotics (ISR Europe 2023), 2023-09-26 - 2023-09-27, Stuttgart, Germany. ISBN 978-380076141-8.
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Kurzfassung
The community has developed many concepts to facilitate the programming of industrial and service robots for non-expert users. Despite the increasing popularity of mobile robotic manipulators in various industries, most of the intuitive programming concepts are tailored to static manipulators. We developed a concept for novice user programming of mobile manipulators based on the Task-Level Programming by Demonstration (TLPbD) approach. To transfer the approach onto the mobile system, we integrate an interface for programming tasks through human demonstration by extracting the observed skills from the camera stream of the robotic system. Our approach allows the user to adapt and parameterize the created program after the demonstration as well as to integrate the demonstrated task into a sequence of tasks. We evaluated our approach in a user study with ten participants in comparison to a standard Task-Level Programming (TLP) method. With our approach, the users were on average four to five times faster in programming the specified task. In addition, we assessed the mental workload and the perceived usability and can show a significant advantage in comparison to the original TLP method.
elib-URL des Eintrags: | https://elib.dlr.de/199771/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Task-Level Programming by Demonstration for Mobile Robotic Manipulators through Human Demonstrations based on Semantic Skill Recognition | ||||||||||||||||||||
Autoren: |
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Datum: | September 2023 | ||||||||||||||||||||
Erschienen in: | 56th International Symposium on Robotics, ISR Europe 2023 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
Verlag: | VDE Verlag GmbH | ||||||||||||||||||||
ISBN: | 978-380076141-8 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | human-robot-interaction; robot programming; mobile manipulator | ||||||||||||||||||||
Veranstaltungstitel: | 56th International Symposium on Robotics (ISR Europe 2023) | ||||||||||||||||||||
Veranstaltungsort: | Stuttgart, Germany | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 26 September 2023 | ||||||||||||||||||||
Veranstaltungsende: | 27 September 2023 | ||||||||||||||||||||
Veranstalter : | Information Technology Society in the VDE (ITG) | ||||||||||||||||||||
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 - CoViPa | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Mayershofer, Luisa | ||||||||||||||||||||
Hinterlegt am: | 01 Dez 2023 12:06 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 21:00 |
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