Programming service tasks in household environments by human demonstration

Robot assistants will only reach a mass consumer market when they are easy to use. This applies especially to the way a user programs his robot system. The only approach that enables a non-expert robot user to teach a system complex tasks is programming by demonstration. This paper explains the basi...

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Bibliographic Details
Published inProceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication pp. 460 - 467
Main Authors Ehrenmann, M., Zollner, R., Rogalla, O., Dillmann, R.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2002
Subjects
Educational robots
Fault tolerance
Grippers
Humans
Kinematics
Navigation
Robot programming
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Summary:Robot assistants will only reach a mass consumer market when they are easy to use. This applies especially to the way a user programs his robot system. The only approach that enables a non-expert robot user to teach a system complex tasks is programming by demonstration. This paper explains the basic concepts for mapping typical human actions performed in a household to a robot system: the recognition of the particular user actions, the task representation and the mapping strategy itself. The execution of a mapped program can then be performed on a real robot. An experiment is presented that was carried out concerning a table laying task and proving the feasibility of this approach.
ISBN:9780780375451
0780375459
DOI:10.1109/ROMAN.2002.1045665