Service robots require simple programming techniques allowing users with little or no technical expertise to integrate new tasks in a robotic platform. A promising solution for automatic acquisition of robot behaviours is the programming by demonstration (PbD) paradigm. Its aim is to let robot systems learn new behaviours from a human operator demonstration. This paper describes a PbD system able to deal with assembly operation in a 3D block world. The main objective of the research is to investigate the benefits of a virtual demonstration environment. Overcoming some difficulties of real world demonstrations, a virtual environment can improve the effectiveness of the instruction phase. Moreover, the user can also supervise and validate the learned task by means of a simulation module, thereby reducing errors in the generation process. Some experiments involving the whole set of system components demonstrate the viability and effectiveness of the approach.

Toward Programming of Assembly Tasks by Demonstration in Virtual Environments / ALEOTTI J.; CASELLI S.; REGGIANI M.. - (2003), pp. 309-314. ((Intervento presentato al convegno IEEE Int. Workshop on Robot and Human Interactive Communication (ROMAN2003) tenutosi a San Francisco (CA), USA nel 31 Oct. - 2 Nov. 2003 [10.1109/ROMAN.2003.1251863].

Toward Programming of Assembly Tasks by Demonstration in Virtual Environments

ALEOTTI, Jacopo;CASELLI, Stefano;REGGIANI, Monica
2003

Abstract

Service robots require simple programming techniques allowing users with little or no technical expertise to integrate new tasks in a robotic platform. A promising solution for automatic acquisition of robot behaviours is the programming by demonstration (PbD) paradigm. Its aim is to let robot systems learn new behaviours from a human operator demonstration. This paper describes a PbD system able to deal with assembly operation in a 3D block world. The main objective of the research is to investigate the benefits of a virtual demonstration environment. Overcoming some difficulties of real world demonstrations, a virtual environment can improve the effectiveness of the instruction phase. Moreover, the user can also supervise and validate the learned task by means of a simulation module, thereby reducing errors in the generation process. Some experiments involving the whole set of system components demonstrate the viability and effectiveness of the approach.
078038136X
Toward Programming of Assembly Tasks by Demonstration in Virtual Environments / ALEOTTI J.; CASELLI S.; REGGIANI M.. - (2003), pp. 309-314. ((Intervento presentato al convegno IEEE Int. Workshop on Robot and Human Interactive Communication (ROMAN2003) tenutosi a San Francisco (CA), USA nel 31 Oct. - 2 Nov. 2003 [10.1109/ROMAN.2003.1251863].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11381/1451862
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