Hulin, Thomas and Schmirgel, Volker and Yechiam, Eldad and Zimmermann, Uwe and Preusche, Carsten and Pöhler, Gloria (2010) Evaluating Exemplary Training Accelerators for Programming-by-Demonstration. In: Proceedings of, pp. 467-472. 19th International Symposium in Robot und Human Interactive Communication, 12-15 Sept 2010, Viareggio; italy. ISBN 978-1-4244-7989-4.
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Abstract
Abstract— Robot Programming by Demonstration requires comprehending the usage of a robotic system. This article is about accelerating the training of these skills, using the example of a DLR/KUKA light-weight robot. An augmented reality and a virtual reality setup are presented that aim to demonstrate and evaluate skills transfer of two different sub-tasks of this system: Avoiding robot singularities and setting correct com- pliance parameters. For this purpose training accelerators are introduced for visualisinAbstract— Robot Programming by Demonstration requires comprehending the usage of a robotic system. This article is about accelerating the training of these skills, using the example of a DLR/KUKA light-weight robot. An augmented reality and a virtual reality setup are presented that aim to demonstrate and evaluate skills transfer of two different sub-tasks of this system: Avoiding robot singularities and setting correct com- pliance parameters. For this purpose training accelerators are introduced for visualising robot singularities, exploring robot singularities and feeling compliance parameters. An evaluation procedure for all three accelerators is suggested and has been performed on the first two. As interesting evaluation result a contrast to the Cognitive Theory of Multimedia Learning hypothesis could be observed: Additional visual information on the robot singularities impairs the participants’ performance. g robot singularities, exploring robot singularities and feeling compliance parameters. An evaluation procedure for all three accelerators is suggested and has been performed on the first two. As interesting evaluation result a contrast to the Cognitive Theory of Multimedia Learning hypothesis could be observed: Additional visual information on the robot singularities impairs the participants’ performance.
Item URL in elib: | https://elib.dlr.de/65613/ | |||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | |||||||||||||||||||||
Title: | Evaluating Exemplary Training Accelerators for Programming-by-Demonstration | |||||||||||||||||||||
Authors: |
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Date: | September 2010 | |||||||||||||||||||||
Journal or Publication Title: | Proceedings of | |||||||||||||||||||||
Refereed publication: | Yes | |||||||||||||||||||||
Open Access: | No | |||||||||||||||||||||
Gold Open Access: | No | |||||||||||||||||||||
In SCOPUS: | No | |||||||||||||||||||||
In ISI Web of Science: | Yes | |||||||||||||||||||||
Page Range: | pp. 467-472 | |||||||||||||||||||||
ISBN: | 978-1-4244-7989-4 | |||||||||||||||||||||
Status: | Published | |||||||||||||||||||||
Keywords: | Programming-by-demonstration, Multimodal Training, singularity, Evaluation | |||||||||||||||||||||
Event Title: | 19th International Symposium in Robot und Human Interactive Communication | |||||||||||||||||||||
Event Location: | Viareggio; italy | |||||||||||||||||||||
Event Type: | international Conference | |||||||||||||||||||||
Event Dates: | 12-15 Sept 2010 | |||||||||||||||||||||
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: | Preusche, Carsten | |||||||||||||||||||||
Deposited On: | 08 Oct 2010 09:36 | |||||||||||||||||||||
Last Modified: | 09 Feb 2017 19:18 |
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