Programming by Interactive Demonstration for a Human Robot Collaborative Assembly

Interactive Robot Programming Based on Human Demonstration and Advice

Service robots require interactive programming interfaces that allow users without programming experience to easily instruct the robots. Systems following the Programming by Demonstration (PbD) paradigm that were developed within the last years are getting closer to this goal. However, most of these systems lack the possibility for the user to supervise and in uence the process of program gener...

Robot Programming by Demonstration with Interactive Action Visualizations

Existing approaches to Robot Programming by Demonstration (PbD) require multiple demonstrations to capture task information that lets robots generalize to unseen situations. However, providing these demonstrations is cumbersome for endusers. In addition, users who are not familiar with the system often fail to demonstrate sufficiently varied demonstrations. We propose an alternative PbD framewo...

Constructing Task-Level Assembly Strategies in Robot Programming by Demonstration

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 numbe...

Robot Progra 59 . Robot Programming by Demonstration

Programming Robot Behavior Primitives through Human Demonstration

Robotic systems are capable of complex behavior by sequencing simpler skills called primitives (Voyles, Morrow, & Khosla 1997). A primitive is a sensor/actuator mapping robust enough to perform appropriately in various situations. Programming one primitive can be tedious and requires an accurate translation of human knowledge to machine code. Once a sufficient set of primitives is coded, the us...