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Position Paper: Human Skills for Programming-by-Demonstration of Robots

Schmirgel, Volker and Zimmermann, Uwe E. and Hulin, Thomas and Preusche, Carsten (2007) Position Paper: Human Skills for Programming-by-Demonstration of Robots. In: Beyond Movement. Skills - scientific workshop, Pisa (Italien).

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Abstract

"Programming-by-Demonstration" (PbD) is a very intuitive and efficient means for programming robots for a specific task. One approach for PbD uses manual guided robots to show the task the robot has to perform. Even though manual guidance is a lot more intuitive than traditional programming, first experiences showed that there is still training needed to make full use of such a system. This paper discusses concepts for PbD and studies the required skills. The focus is less on task skills that are to be tansferred to a robot but more on the skills for using a PbD system (system skills). Furthermore, several tools for PbD, like virtual fixtures, compliant motion or authoring are discussed. Two demonstrators for evaluating concepts and tools for PbD are proposed and described, one augmented reality and one virtual reality demonstrator, both based on the DLR/KUKA light Weight Robot. These demonstrators are suited as skill transfer system for programming robots, as well as training platforms to teach novice users how to program a robot with PbD.

Item URL in elib:https://elib.dlr.de/55618/
Document Type:Conference or Workshop Item (UNSPECIFIED)
Title:Position Paper: Human Skills for Programming-by-Demonstration of Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schmirgel, VolkerKUKA Roboter GmbHUNSPECIFIED
Zimmermann, Uwe E.KUKA Roboter GmbHUNSPECIFIED
Hulin, ThomasUNSPECIFIEDUNSPECIFIED
Preusche, CarstenUNSPECIFIEDUNSPECIFIED
Date:2007
Journal or Publication Title:Beyond Movement
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Editors:
EditorsEmail
Bergamasco, MassimoUNSPECIFIED
Status:Published
Keywords:robotics, human robot interaction, demonstration activity
Event Title:Skills - scientific workshop
Event Location:Pisa (Italien)
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Klauer, Monika
Deposited On:07 Nov 2008
Last Modified:12 Dec 2013 20:33

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