Eiband, Thomas und Lay, Florian Samuel und Nottensteiner, Korbinian und Lee, Dongheui (2023) Unifying Skill-Based Programming and Programming by Demonstration through Ontologies. In: 5th International Conference on Industry 4.0 and Smart Manufacturing, ISM 2023. Elsevier ScienceDirect. 5th International Conference on Industry 4.0 and Smart Manufacturing, 2023-11-22 - 2023-11-24, Lisbon, Portugal. ISSN 1877-0509. (im Druck)
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Kurzfassung
Smart manufacturing requires easily reconfigurable robotic systems to increase the flexibility in presence of market uncertainties by reducing the set-up times for new tasks. One enabler of fast reconfigurability is given by intuitive robot programming methods. On the one hand, offline skill-based programming (OSP) allows the definition of new tasks by sequencing pre-defined, parameterizable building blocks termed as skills in a graphical user interface. On the other hand, programming by demonstration (PbD) is a well known technique that uses kinesthetic teaching for intuitive robot programming, where this work presents an approach to automatically recognize skills from the human demonstration and parameterize them using the recorded data. The approach further unifies both programming modes of OSP and PbD with the help of an ontological knowledge base and empowers the end user to choose the preferred mode for each phase of the task. In the experiments, we evaluate two scenarios with different sequences of programming modes being selected by the user to define a task. In each scenario, skills are recognized by a data-driven classifier and automatically parameterized from the recorded data. The fully defined tasks consist of both manually added and automatically recognized skills and are executed in the context of a realistic industrial assembly environment.
elib-URL des Eintrags: | https://elib.dlr.de/200496/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Zusätzliche Informationen: | Link to supplementary video: https://doi.org/10.5281/zenodo.8383257 | ||||||||||||||||||||
Titel: | Unifying Skill-Based Programming and Programming by Demonstration through Ontologies | ||||||||||||||||||||
Autoren: |
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Datum: | 2023 | ||||||||||||||||||||
Erschienen in: | 5th International Conference on Industry 4.0 and Smart Manufacturing, ISM 2023 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
Verlag: | Elsevier ScienceDirect | ||||||||||||||||||||
Name der Reihe: | Procedia Computer Science | ||||||||||||||||||||
ISSN: | 1877-0509 | ||||||||||||||||||||
Status: | im Druck | ||||||||||||||||||||
Stichwörter: | intuitive programming; smart factory; skill recognition; robot skills; Programming by Demonstration; Learning from Demonstration; user interface; kinesthetic teaching; ontology; knowledge base; | ||||||||||||||||||||
Veranstaltungstitel: | 5th International Conference on Industry 4.0 and Smart Manufacturing | ||||||||||||||||||||
Veranstaltungsort: | Lisbon, Portugal | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 22 November 2023 | ||||||||||||||||||||
Veranstaltungsende: | 24 November 2023 | ||||||||||||||||||||
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 - Intuitive Mensch-Roboter Schnittstelle [RO], R - Mensch-Maschine Interaktion | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Leitungsbereich Institut für Robotik und Mechatronik (ab 2013) > Kognitive Robotik | ||||||||||||||||||||
Hinterlegt von: | Eiband, Thomas | ||||||||||||||||||||
Hinterlegt am: | 05 Dez 2023 13:56 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 21:00 |
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