The Programming by Demonstration paradigm promises to reduce the complexity of robot programming. Its aim is to let robot systems learn new behaviors from a human operator demonstration. In this paper, we argue that while providing demonstrations in the real environment enables teaching of general tasks, for tasks whose essential features are known a priori demonstrating in a virtual environment may improve efficiency and reduce trainer’s fatigue. We next describe a prototype system supporting Programming by Demonstration in a virtual environment and we report results obtained exploiting simple virtual tactile fixtures in pick-and-place tasks.
Leveraging on a Virtual Environment for Robot Programming by Demonstration / Aleotti, Jacopo; Caselli, Stefano; Reggiani, Monica. - In: ROBOTICS AND AUTONOMOUS SYSTEMS. - ISSN 0921-8890. - 47:(2004), pp. 153-161. [10.1016/j.robot.2004.03.009]
Leveraging on a Virtual Environment for Robot Programming by Demonstration
ALEOTTI, Jacopo;CASELLI, Stefano;REGGIANI, Monica
2004-01-01
Abstract
The Programming by Demonstration paradigm promises to reduce the complexity of robot programming. Its aim is to let robot systems learn new behaviors from a human operator demonstration. In this paper, we argue that while providing demonstrations in the real environment enables teaching of general tasks, for tasks whose essential features are known a priori demonstrating in a virtual environment may improve efficiency and reduce trainer’s fatigue. We next describe a prototype system supporting Programming by Demonstration in a virtual environment and we report results obtained exploiting simple virtual tactile fixtures in pick-and-place tasks.File | Dimensione | Formato | |
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