Advanced

Teaching Assembly by Demonstration Using Advanced Human Robot Interaction and a Knowledge Integration Framework

Haage, Mathias LU ; Piperagkas, Grigoris; Papadopoulos, Christos; Mariolis, Ioannis; Malec, Jacek LU ; Bekiroglu, Yasemin; Hedelind, Mikael and Tzovaras, Dimitrios (2017) In Procedia Manufacturing 11. p.164-173
Abstract

Conventional industrial robots are heavily dependent on hard automation that requires pre-specified fixtures and time-consuming (re)programming performed by experienced operators. In this work, teaching by human-only demonstration is used for reducing required time and expertise to setup a robotized assembly station. This is achieved by the proposed framework enhancing the robotic system with advanced perception and cognitive abilities, accessed through a user-friendly Human Robot Interaction interface. The approach is evaluated on a small parts’ assembly use case deployed onto a collaborative industrial robot testbed. Experiments indicate that the proposed approach allows inexperienced users to efficiently teach robots new assembly... (More)

Conventional industrial robots are heavily dependent on hard automation that requires pre-specified fixtures and time-consuming (re)programming performed by experienced operators. In this work, teaching by human-only demonstration is used for reducing required time and expertise to setup a robotized assembly station. This is achieved by the proposed framework enhancing the robotic system with advanced perception and cognitive abilities, accessed through a user-friendly Human Robot Interaction interface. The approach is evaluated on a small parts’ assembly use case deployed onto a collaborative industrial robot testbed. Experiments indicate that the proposed approach allows inexperienced users to efficiently teach robots new assembly tasks.

(Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Knowledge Integration, Robotic Assembly, Sequential Function Charts, Teaching by Demonstration
in
Procedia Manufacturing
volume
11
pages
10 pages
publisher
Elsevier
external identifiers
  • scopus:85029877595
DOI
10.1016/j.promfg.2017.07.221
language
English
LU publication?
yes
id
10bf581c-c8eb-41cf-9fcb-5d0a277a4858
date added to LUP
2017-10-10 07:38:49
date last changed
2018-05-06 04:37:24
@article{10bf581c-c8eb-41cf-9fcb-5d0a277a4858,
  abstract     = {<p>Conventional industrial robots are heavily dependent on hard automation that requires pre-specified fixtures and time-consuming (re)programming performed by experienced operators. In this work, teaching by human-only demonstration is used for reducing required time and expertise to setup a robotized assembly station. This is achieved by the proposed framework enhancing the robotic system with advanced perception and cognitive abilities, accessed through a user-friendly Human Robot Interaction interface. The approach is evaluated on a small parts’ assembly use case deployed onto a collaborative industrial robot testbed. Experiments indicate that the proposed approach allows inexperienced users to efficiently teach robots new assembly tasks.</p>},
  author       = {Haage, Mathias and Piperagkas, Grigoris and Papadopoulos, Christos and Mariolis, Ioannis and Malec, Jacek and Bekiroglu, Yasemin and Hedelind, Mikael and Tzovaras, Dimitrios},
  keyword      = {Knowledge Integration,Robotic Assembly,Sequential Function Charts,Teaching by Demonstration},
  language     = {eng},
  pages        = {164--173},
  publisher    = {Elsevier},
  series       = {Procedia Manufacturing},
  title        = {Teaching Assembly by Demonstration Using Advanced Human Robot Interaction and a Knowledge Integration Framework},
  url          = {http://dx.doi.org/10.1016/j.promfg.2017.07.221},
  volume       = {11},
  year         = {2017},
}