In order to realize the systematic planning for teaching demonstration, this article proposed a teaching demonstration system based on .Net. The system adopted the techniques of Windows forms and serialization, Windows tree controls and the type and level of algorithm, component interface, advanced realization of windows graphics device interface, graphics drawing application programming interf...

Robots have been used successfully in structured settings, where the environment is controlled; this research is inspired by the vision of robots moving beyond structured, controlled settings. The work focuses on the problem of teaching robots forcebased assembly skills from human demonstration. To avoid position dependencies, force-based discrete states (contact formations) are used to describ...

We present an integrated system in which an operator uses a simulated environment to program part-mating and contact tasks. Generation of models within this virtual environment is facilitated using a fast, occlusion-tolerant, 3D grey-scale vision system which can recognize and accurately locate objects within the work site. A major goal of this work is to make robotic programming easy and intui...

We present a new visual programming language and environment that serves as a form of feedback and representation in a Programming by Demonstration system The language di ers from existing visual languages because it explicitly represents data objects and implicitly represents operations by changes in data objects The system was designed to provide non programmers with programming support for c...

enable ordinary end users to create programs without needing to learn the arcane details of programming languages, but simply by demonstrating what their program should do. If PBD were successful, the vast population of nonprogrammer computer users would be able to take control of their computing experience and create programs to automate routine tasks, develop applications for their specific n...

In this paper we present two controllers for robots that combine terms for the compensation of gravity forces, and the forces of friction of motors and gearboxes. The Low-Friction Zero-Gravity controller allows a guidance of the robot without effort, allowing small friction forces to reduce the free robot motion. It can serve to aid users providing kinesthetic demonstrations while programming b...