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Supporting Semantic Capture during Kinesthetic Teaching of Collaborative Industrial Robots

Stenmark, Maj LU ; Haage, Mathias LU ; Topp, Elin Anna LU and Malec, Jacek LU (2018) In International Journal of Semantic Computing 12(1). p.167-186
Abstract
Industrial robot systems being deployed today do not contain domain knowledge to aid robot operators in setup and operational use. To gather such knowledge in a robotic context requires mechanisms for entering and capturing semantic data. Such mechanisms would allow a system to gradually build a working vocabulary while interacting with the environment and operators, valuable for the bootstrapping system knowledge and ensuring the data collection over time. This paper presents a prototype user interface that assists the kinesthetic teaching mode of a collaborative industrial robot, allowing for the capture of semantic information while working with the robot in day-to-day use. Two modalities, graphical point-and-click and natural language,... (More)
Industrial robot systems being deployed today do not contain domain knowledge to aid robot operators in setup and operational use. To gather such knowledge in a robotic context requires mechanisms for entering and capturing semantic data. Such mechanisms would allow a system to gradually build a working vocabulary while interacting with the environment and operators, valuable for the bootstrapping system knowledge and ensuring the data collection over time. This paper presents a prototype user interface that assists the kinesthetic teaching mode of a collaborative industrial robot, allowing for the capture of semantic information while working with the robot in day-to-day use. Two modalities, graphical point-and-click and natural language, support capture of semantic context and the building of a working vocabulary of the environment while modifying or creating robot programs. A semantic capture experiment illustrates the approach.
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Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to journal
publication status
published
subject
in
International Journal of Semantic Computing
volume
12
issue
1
pages
20 pages
publisher
World Scientific
external identifiers
  • scopus:85051499914
ISSN
1793-7108
DOI
10.1142/S1793351X18400093
language
English
LU publication?
yes
id
dd51d960-d497-41b8-8e42-e5bed8bf0e34
date added to LUP
2017-06-12 14:10:26
date last changed
2018-09-16 04:46:41
@article{dd51d960-d497-41b8-8e42-e5bed8bf0e34,
  abstract     = {Industrial robot systems being deployed today do not contain domain knowledge to aid robot operators in setup and operational use. To gather such knowledge in a robotic context requires mechanisms for entering and capturing semantic data. Such mechanisms would allow a system to gradually build a working vocabulary while interacting with the environment and operators, valuable for the bootstrapping system knowledge and ensuring the data collection over time. This paper presents a prototype user interface that assists the kinesthetic teaching mode of a collaborative industrial robot, allowing for the capture of semantic information while working with the robot in day-to-day use. Two modalities, graphical point-and-click and natural language, support capture of semantic context and the building of a working vocabulary of the environment while modifying or creating robot programs. A semantic capture experiment illustrates the approach.<br/>},
  author       = {Stenmark, Maj and Haage, Mathias and Topp, Elin Anna and Malec, Jacek},
  issn         = {1793-7108},
  language     = {eng},
  number       = {1},
  pages        = {167--186},
  publisher    = {World Scientific},
  series       = {International Journal of Semantic Computing},
  title        = {Supporting Semantic Capture during Kinesthetic Teaching of Collaborative Industrial Robots},
  url          = {http://dx.doi.org/10.1142/S1793351X18400093},
  volume       = {12},
  year         = {2018},
}