Work

Comprehension of Operating a Robot by Enactive Learning: Exemplary Approaches with Programming-by-Demonstration

Year: 2009

Type: article

Abstract: Robot Programming-by-Demonstration demands two skills from the user, understanding the task that is to be programmed, and comprehending how to use the robotic system. This article is about training the user those skills that are necessary for the latter require-ment. The robotic system is based on the DLR/KUKA light-weight robot, which allows direct human-machine interaction and compliant motions. An augmented reality and a virtual reality setup are presented that aim to demonstrate and evaluate skills transfer of two different sub-tasks of this system: avoiding robot singu-larities and setting correct compliance parameters. For this purpose training accelerators are introduced for (1) visualising robot singularities, (2) exploring robot singularities, and (3) feeling compliance parameters. An evaluation procedure for these accelerators is suggested. 1

Source: elib (German Aerospace Center)

Authors: Volker Schmirgel, Uwe E. Zimmermann, Eldad Yechiam, Thomas Hulin, Carsten Preusche

Institutions: Technion – Israel Institute of Technology, Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)

Language: English

Topic: Robot Manipulation and Learning

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Quality education

Open Access status: green

OpenAlex ID: W17511783

FWCI:

Cites: 17

Cited by:

Related to: 10