Human-robot interface for instructing industrial tasks using kinesthetic teaching

Schou, Casper; Damgaard, Jens Skov; Bøgh, Simon; Madsen, Ole

doi:10.1109/isr.2013.6695599

Cited by 47 publications

(34 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Kinesthetic teaching: In one set of experiments, the operator uses kinesthetic teaching to directly interact with the manipulator [53]. The robot arm is piloted to target locations and an input is given by pushing the end-effector in certain directions.…”

Section: Explicit Task Programmingmentioning

confidence: 99%

“…The kinesthetic teaching is illustrated in Fig. 9a, and for implementation details we refer the reader to the original publication [53].…”

Section: Explicit Task Programmingmentioning

confidence: 99%

“…1 Specifically, the tabletop_object_detector package in ROS Fuerte. 2 Although only 9 are mentioned in [53], additional tests with 9 different participants were recently conducted within the EC-FP7 TAPAS research project (http://www.tapas-project.eu). gesture recognition capabilities to the Little Helper, which has the effect that an operator can accomplish the teaching phase simply by pointing at the parameters for each skill in the sequence.…”

Section: Explicit Task Programmingmentioning

confidence: 99%

“…9. Teaching of parameters through direct interaction with the manipulator using (a) kinesthetic teaching [53], and (b) through the recognition of pointing gestures [54].…”

Section: Logistic Tasksmentioning

confidence: 99%

See 3 more Smart Citations

Robot skills for manufacturing: From concept to industrial deployment

Pedersen

Nalpantidis

Andersen

et al. 2016

Robotics and Computer-Integrated Manufacturing

368

145

View full text Add to dashboard Cite

Section: Explicit Task Programmingmentioning

confidence: 99%

“…The kinesthetic teaching is illustrated in Fig. 9a, and for implementation details we refer the reader to the original publication [53].…”

Section: Explicit Task Programmingmentioning

confidence: 99%

Section: Explicit Task Programmingmentioning

confidence: 99%

“…9. Teaching of parameters through direct interaction with the manipulator using (a) kinesthetic teaching [53], and (b) through the recognition of pointing gestures [54].…”

Section: Logistic Tasksmentioning

confidence: 99%

See 2 more Smart Citations

Robot skills for manufacturing: From concept to industrial deployment

Pedersen

Nalpantidis

Andersen

et al. 2016

Robotics and Computer-Integrated Manufacturing

368

145

View full text Add to dashboard Cite

“…Robots are increasingly introduced to cooperate with humans in different fields, such as manufacturing [1] [2], surgical robotics [3], service robotics [4] [5] and search & rescue robotics [6] [7]. One of the main objectives of using robot manipulators in human-robot cooperation is to reliably and repeatedly manipulate objects from a start position to a goal position.…”

Section: Introductionmentioning

confidence: 99%

Skill robot library: Intelligent path planning framework for object manipulation

Kyrarini

Naeem

Wang

et al. 2017

2017 25th European Signal Processing Conference (EUSIPCO)

View full text Add to dashboard Cite

Abstract-Commonly used path planning techniques for object manipulation are computationally expensive and timeconsuming. In this paper, a novel framework called Skill Robot Library (SRL), which has competence to store only the keypoints of a path rather than complete, is presented. The path can be computed with path planner or taught by a human using kinesthetic teaching. Additionally, when the environment is static and only the requested new start and goal positions are changed with respect to the start and goal positions of the stored path, the SRL can retrieve and modify the stored path. The SRL forwards the final path to the robot for reproduction. Experimental results achieved with a six degrees of freedom robotic arm are presented together with performance evaluation of the SRL and the path planner is demonstrated via a series of experiments.

show abstract

Gathering and Conceptualizing Plan-Based Robot Activity Experiences

Mokhtari

Lim

Lopes

et al. 2015

Intelligent Autonomous Systems 13

View full text Add to dashboard Cite

Learning from experiences is an effective approach to enhance robot's competence. This paper focuses on developing capabilities for a robot to obtain robot activity experiences and conceptualize the experiences as plan schemata, which are used as heuristics for the robot to make plans in similar situations. The plan-based robot activity experiences are obtained through human-robot interactions where a teaching action from a command-line user interface triggers recording of an experience. To represent human-robot interaction activities, ontologies for experiences and user instructions are integrated into a robot ontology. Recorded experiences are episodic descriptions of the robot's activities including relevant perceptions of the environment, the goals pursued, successes, and failures. Since the amount of experience data is large, a graph simplification algorithm based on ego networks is investigated to filter out irrelevant information in an experience. Finally, an approach to robot activity conceptualization based on deductive generalization and abstraction is presented. The proposed system was demonstrated in a scenario where a PR2 robot is taught how to "serve a coffee" to a guest, in the EU project RACE.

show abstract

Human-robot interface for instructing industrial tasks using kinesthetic teaching

Cited by 47 publications

References 10 publications

Robot skills for manufacturing: From concept to industrial deployment

Robot skills for manufacturing: From concept to industrial deployment

Skill robot library: Intelligent path planning framework for object manipulation

Gathering and Conceptualizing Plan-Based Robot Activity Experiences

Contact Info

Product

Resources

About