Programming service tasks in household environments by human demonstration
Programming service tasks in household environments by human demonstration
复制标题
通过人类演示对家庭环境中的服务任务进行编程
DOI：
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复制
发表时间：
2002
期刊：
影响因子：
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通讯作者：
R. Dillmann
中科院分区：
文献类型：
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作者：
M. Ehrenmann;R. Zollner;O. Rogalla;R. Dillmann
机器人助手只有在易于使用时才会进入大众消费市场。这尤其适用于用户对其机器人系统进行编程的方式。使非专家机器人用户能够教授系统复杂任务的唯一方法是通过演示进行编程。本文解释了在家庭中执行的典型的人类动作映射到机器人系统的基本概念：识别特定的用户动作，任务表示和映射策略本身。映射程序的执行然后可以在真实的机器人上执行。最后，以一个桌面铺设任务为例，进行了实验，验证了该方法的可行性。
Robot assistants will only reach a mass consumer market when they are easy to use. This applies especially to the way a user programs his robot system. The only approach that enables a non-expert robot user to teach a system complex tasks is programming by demonstration. This paper explains the basic concepts for mapping typical human actions performed in a household to a robot system: the recognition of the particular user actions, the task representation and the mapping strategy itself. The execution of a mapped program can then be performed on a real robot. An experiment is presented that was carried out concerning a table laying task and proving the feasibility of this approach.