Teleoperation for learning by demonstration

Data glove versus object manipulation for intuitive robot control

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Resumé

Learning by demonstration is a useful technique to augment a robot's behavioral inventory, and teleoperation allows lay users to demonstrate novel behaviors intuitively to the robot. In this paper, we compare two modes of teleoperation of an industrial robot, the demonstration by means of a data glove and by means of a control object (peg). Experiments with 16 lay users, performing assembly task on the Cranfield benchmark objects, show that the control peg leads to more success, more efficient demonstration and fewer errors.

OriginalsprogEngelsk
TitelUltra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on
ForlagIEEE
Publikationsdato2014
Sider346-351
DOI
StatusUdgivet - 2014
BegivenhedInternational Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT) - St. Petersburg, Rusland
Varighed: 6. okt. 20148. okt. 2014
Konferencens nummer: 6

Konference

KonferenceInternational Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT)
Nummer6
LandRusland
BySt. Petersburg
Periode06/10/201408/10/2014

Fingeraftryk

Remote control
Demonstrations
Robots
Industrial robots
Experiments

Citer dette

Kukliński, K., Fischer, K., Marhenke, I., Kirstein, F., Aus der Wieschen, M. V., Sølvason, D., ... Savarimuthu, T. R. (2014). Teleoperation for learning by demonstration: Data glove versus object manipulation for intuitive robot control. I Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on (s. 346-351 ). IEEE. https://doi.org/10.1109/ICUMT.2014.7002126
Kukliński, Kamil ; Fischer, Kerstin ; Marhenke, Ilka ; Kirstein, Franziska ; Aus der Wieschen, Maria Vanessa ; Sølvason, Dorthe ; Krüger, Norbert ; Savarimuthu, Thiusius Rajeeth. / Teleoperation for learning by demonstration : Data glove versus object manipulation for intuitive robot control. Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on . IEEE, 2014. s. 346-351
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abstract = "Learning by demonstration is a useful technique to augment a robot's behavioral inventory, and teleoperation allows lay users to demonstrate novel behaviors intuitively to the robot. In this paper, we compare two modes of teleoperation of an industrial robot, the demonstration by means of a data glove and by means of a control object (peg). Experiments with 16 lay users, performing assembly task on the Cranfield benchmark objects, show that the control peg leads to more success, more efficient demonstration and fewer errors.",
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author = "Kamil Kukliński and Kerstin Fischer and Ilka Marhenke and Franziska Kirstein and {Aus der Wieschen}, {Maria Vanessa} and Dorthe S{\o}lvason and Norbert Kr{\"u}ger and Savarimuthu, {Thiusius Rajeeth}",
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Kukliński, K, Fischer, K, Marhenke, I, Kirstein, F, Aus der Wieschen, MV, Sølvason, D, Krüger, N & Savarimuthu, TR 2014, Teleoperation for learning by demonstration: Data glove versus object manipulation for intuitive robot control. i Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on . IEEE, s. 346-351 , International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), St. Petersburg, Rusland, 06/10/2014. https://doi.org/10.1109/ICUMT.2014.7002126

Teleoperation for learning by demonstration : Data glove versus object manipulation for intuitive robot control. / Kukliński, Kamil; Fischer, Kerstin; Marhenke, Ilka; Kirstein, Franziska; Aus der Wieschen, Maria Vanessa; Sølvason, Dorthe; Krüger, Norbert; Savarimuthu, Thiusius Rajeeth.

Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on . IEEE, 2014. s. 346-351 .

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

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AU - Marhenke, Ilka

AU - Kirstein, Franziska

AU - Aus der Wieschen, Maria Vanessa

AU - Sølvason, Dorthe

AU - Krüger, Norbert

AU - Savarimuthu, Thiusius Rajeeth

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N2 - Learning by demonstration is a useful technique to augment a robot's behavioral inventory, and teleoperation allows lay users to demonstrate novel behaviors intuitively to the robot. In this paper, we compare two modes of teleoperation of an industrial robot, the demonstration by means of a data glove and by means of a control object (peg). Experiments with 16 lay users, performing assembly task on the Cranfield benchmark objects, show that the control peg leads to more success, more efficient demonstration and fewer errors.

AB - Learning by demonstration is a useful technique to augment a robot's behavioral inventory, and teleoperation allows lay users to demonstrate novel behaviors intuitively to the robot. In this paper, we compare two modes of teleoperation of an industrial robot, the demonstration by means of a data glove and by means of a control object (peg). Experiments with 16 lay users, performing assembly task on the Cranfield benchmark objects, show that the control peg leads to more success, more efficient demonstration and fewer errors.

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Kukliński K, Fischer K, Marhenke I, Kirstein F, Aus der Wieschen MV, Sølvason D et al. Teleoperation for learning by demonstration: Data glove versus object manipulation for intuitive robot control. I Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on . IEEE. 2014. s. 346-351 https://doi.org/10.1109/ICUMT.2014.7002126