Leveraging on a virtual environment for robot programming by demonstration
Authors
Jacopo Aleotti, Dipartimento di Ingegneria dell'Informazione, University of Parma, Italy Stefano Caselli, Dipartimento di Ingegneria dell'Informazione, University of Parma, Italy
Monica Reggiani, Dipartimento di Ingegneria dell'Informazione, University of Parma, Italy
Published in
ROBOTICS AND AUTONOMOUS SYSTEMSVolume 47, Number 2-3, 153-161,
doi>10.1016/j.robot.2004.03.009
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.Keywords
Robot programming - programming by demonstration - virtual fixtures - virtual environmentsBibtex
@article{SMC2005,
Author = {Aleotti, J. and Caselli, S. and Reggiani, M.; },
Journal = {Robotics and Autonomous Systems},
Pages = {153 - 161},
Title = {Leveraging on a virtual environment for robot programming by demonstration},
Volume = {47},
Issue = {2-3},
Month = jun,
Year = {2004},
Issn = {0921-8890 },
Doi = {10.1016/j.robot.2004.03.009}}
Author = {Aleotti, J. and Caselli, S. and Reggiani, M.; },
Journal = {Robotics and Autonomous Systems},
Pages = {153 - 161},
Title = {Leveraging on a virtual environment for robot programming by demonstration},
Volume = {47},
Issue = {2-3},
Month = jun,
Year = {2004},
Issn = {0921-8890 },
Doi = {10.1016/j.robot.2004.03.009}}
