Human Embodiment Creates Problems for Robot Learning by Demonstration Using a Control Panel

Franziska Kirstein, Kerstin Fischer, Dorthe Sølvason

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Abstrakt

In this paper, problems in instructing an industrial robot by means of a control panel are investigated. In order for the robot to learn as much and as fast as possible from demonstration, the demonstration by the teacher needs to be as precise as possible. Usability studies constitute a useful methodology to investigate in which situations users provide the robot with exact trajectories and, if not, why they face difficulties. Results show that movements involving only the lowest joint of the robot arm are straightforward and very exact. In contrast, fine movements that involve joints of the upper arm cause considerable problems. The analysis shows that users have to employ separate actions instead of focusing on the target and therefore need to consciously plan the action since they cannot match the robot's movements with those of their own embodiment.

OriginalsprogEngelsk
TitelProceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction
Antal sider2
ForlagAssociation for Computing Machinery
Publikationsdato2014
Sider212-213
ISBN (Elektronisk)978-1-4503-2658-2
DOI
StatusUdgivet - 2014
Begivenhed2014 ACM/IEEE International Conference on Human Robot Interaction - Bielefeld, Tyskland
Varighed: 3. mar. 20146. mar. 2014

Konference

Konference2014 ACM/IEEE International Conference on Human Robot Interaction
Land/OmrådeTyskland
ByBielefeld
Periode03/03/201406/03/2014

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