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Eiband, Thomas (2024) Intuitive Robot Programming with Force-based Skills and Task Structures. Dissertation, Technische Universitat München.
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Offizielle URL: https://mediatum.ub.tum.de/?id=1713657
Kurzfassung
This thesis presents approaches for intuitive robot programming by demonstration, targeting end users. It focuses on force-based skills required in contact-rich tasks, such as surface processing or non-prehensile manipulation. The methods automatically recognize and represent robot skills from motion and force data obtained from kinesthetic teaching. The presented task structures allow the intuitive programming of online decision-making and recovery behaviors by incremental user refinement.
| elib-URL des Eintrags: | https://elib.dlr.de/207490/ | ||||||||
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| Dokumentart: | Hochschulschrift (Dissertation) | ||||||||
| Titel: | Intuitive Robot Programming with Force-based Skills and Task Structures | ||||||||
| Autoren: |
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| Datum: | 2024 | ||||||||
| Open Access: | Ja | ||||||||
| Seitenanzahl: | 193 | ||||||||
| Status: | veröffentlicht | ||||||||
| Stichwörter: | intuitive programming; smart factory; skill recognition; robot skills; contact; force-based; Programming by Demonstration; Learning from Demonstration; kinesthetic teaching; human-robot interaction; human-machine interaction; user interface; ontology; decision-making; recovery behavior; fault recovery | ||||||||
| Institution: | Technische Universitat München | ||||||||
| Abteilung: | TUM School of Computation, Information and Technology | ||||||||
| 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 - Synergieprojekt Factory of the Future [RO], R - Synergieprojekt Factory of the Future Extended | ||||||||
| Standort: | Oberpfaffenhofen | ||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||
| Hinterlegt von: | Eiband, Thomas | ||||||||
| Hinterlegt am: | 28 Okt 2024 15:31 | ||||||||
| Letzte Änderung: | 28 Okt 2024 15:31 |
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