Constructing Task-Level Assembly Strategies In Robot Programming By Demonstration  

Oleh:

[s.n]

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 24 no. 12 (Dec. 2004), page 1073-1086.
Topik: programming by demonstration; teaching by showing; hybrid dynamic systems; task level planning
Fulltext: 1073.pdf (302.88KB)

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Programming by demonstration (PbD) is a technique for programming robots that holds much promise in making robots more accessible to ordinary, non-technical users. However, a well-known difficulty with the method is that a human will often demonstrate the task to be programmed inconsistently or even erroneously, leading to the inclusion of what is essentially noise in the demonstration. A number of techniques exist in the literature for filtering out this type of noise; however, most focus on very low level control command details. In this paper, we propose a new, complementary direction of research. We take a “task-level” view of the demonstration, and note that noise can exist at this level also.We propose a framework, based on a hybrid dynamic system modeling approach, to select the most optimal, task-level execution strategies that were demonstrated. We apply our framework to a real household task of inserting the compressible spindle of a paper towel holder into its supports. We conduct experiments to show that significant improvements in robot performance of the task can be achieved by a PbD regime that includes our method

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