Robot Progra 59 . Robot Programming by Demonstration

Workspace Boundary Avoidance in Robot Teaching by Demonstration Using Fuzzy Impedance Control

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...

Handbook of Robotics Chapter 59 : Robot Programming by Demonstration

Designing Path for Robot Arm Extensions Series with the Aim of Avoiding Obstruction with Recurring Neural Network

In this paper, recurrent neural network is used for path planning in the joint space of the robot with obstacle in the workspace of the robot. To design the neural network, first a performance index has been defined as sum of square of error tracking of final executor. Then, obstacle avoidance scheme is presented based on its space coordinate and its minimum distance between the obstacle and ea...

Social mechanisms of robot programming by demonstration

The special issue collects a subset of the best papers presented at the ICRA’05 workshop on the Social Mechanisms of Robot Programming by Demonstration. The workshop took place on April 21st 2005 in Barcelona, Spain, at the IEEE Conference on Robotics and Automation (ICRA’05). Eleven of the best papers presented at the workshop were subsequently submitted for peer review before publication in t...

Programming by Demonstration: Removing Suboptimal Actions in a Partially Known Configuration Space

Programming by demonstration is a promising approach to automatic robot programming, however methods are required to remove suboptimal actions that can be demonstrated by end users. In this paper we use the partial knowledge of Con guration Space (C-space) derived in previous work to remove suboptimal actions from a demonstration. Our idea is to use demonstrated paths to predict what regions in...