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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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Official URL: https://mediatum.ub.tum.de/?id=1713657
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/207490/ | ||||||||
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| Document Type: | Thesis (Dissertation) | ||||||||
| Title: | Intuitive Robot Programming with Force-based Skills and Task Structures | ||||||||
| Authors: |
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| Date: | 2024 | ||||||||
| Open Access: | Yes | ||||||||
| Number of Pages: | 193 | ||||||||
| Status: | Published | ||||||||
| Keywords: | 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 | ||||||||
| Department: | TUM School of Computation, Information and Technology | ||||||||
| 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 - Factory of the Future synergy project [RO], R - Synergy project Factory of the Future Extended | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) | ||||||||
| Deposited By: | Eiband, Thomas | ||||||||
| Deposited On: | 28 Oct 2024 15:31 | ||||||||
| Last Modified: | 28 Oct 2024 15:31 |
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