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

REGGIANI, MONICA
2004

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 in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

Caricamento pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11577/155186
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 61
  • ???jsp.display-item.citation.isi??? 47
social impact