elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Impressum | Datenschutz | Kontakt | English
Schriftgröße: [-] Text [+]

Task-Level Programming by Demonstration for Mobile Robotic Manipulators through Human Demonstrations based on Semantic Skill Recognition

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.

[img] PDF - Nur DLR-intern zugänglich
2MB

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/
Dokumentart:Konferenzbeitrag (Vortrag)
Titel:Task-Level Programming by Demonstration for Mobile Robotic Manipulators through Human Demonstrations based on Semantic Skill Recognition
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Mayershofer, Luisaluisa.mayershofer (at) dlr.dehttps://orcid.org/0009-0003-2587-6973147870281
Lehner, PeterPeter.Lehner (at) dlr.dehttps://orcid.org/0000-0002-3755-1186147870282
Leidner, DanielDaniel.Leidner (at) dlr.dehttps://orcid.org/0000-0001-5091-7122NICHT SPEZIFIZIERT
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.dehttps://orcid.org/0000-0001-5343-9074147870286
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

Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags

Blättern
Suchen
Hilfe & Kontakt
Informationen
electronic library verwendet EPrints 3.3.12
Gestaltung Webseite und Datenbank: Copyright © Deutsches Zentrum für Luft- und Raumfahrt (DLR). Alle Rechte vorbehalten.