Teaching a Robot the Semantics of Assembly Tasks

T. R. Savarimuthu; A. G. Buch; C. Schlette; N. Wantia; Jürgen  Roßmann; D. Martinez; G. Alenya; C. Torras; Ales Ude; Bojan Nemec; Aljaz Kramberger; Florentin Worgotter; Eren Erdal Aksoy; Jérémie Papon; Simon Haller; J. Piater; N. Kruger

doi:10.1109/TSMC.2016.2635479

Teaching a Robot the Semantics of Assembly Tasks

T. R. Savarimuthu, A. G. Buch, C. Schlette, N. Wantia, Jürgen Roßmann, D. Martinez, G. Alenya, C. Torras, Ales Ude, Bojan Nemec, Aljaz Kramberger, Florentin Worgotter, Eren Erdal Aksoy, Jérémie Papon, Simon Haller, J. Piater, N. Kruger

Research output: Contribution to journal › Journal article › Research › peer-review

414 Downloads (Pure)

Abstract

We present a three-level cognitive system in a learning by demonstration context. The system allows for learning and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated with these two levels are connected by an efficient mid-level representation based on so-called 'semantic event chains.' We describe details of the representations and quantify the effect of the associated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the overall system by three demonstrations that have been performed at a project review. The described system has a technical readiness level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6.

Original language	English
Journal	IEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume	48
Issue number	5
Pages (from-to)	670-692
ISSN	2168-2216
DOIs	https://doi.org/10.1109/TSMC.2016.2635479
Publication status	Published - 1. May 2018

Keywords

Benchmark testing
Context
Planning
Robot sensing systems
Semantics
Trajectory
Learning by demonstration (LbD)
object recognition
robotic assembly
vision

Documents & Links

10.1109/TSMC.2016.2635479

Teaching a Robot the Semantics of Assembly TasksAccepted manuscript, 1.36 MB

SDU Link

Check access to the material in SDU Library's search engine

1 Finished

ReconCell: A Reconfigurable robot workCell for fast set-up of automated assembly processes in SMEs
Krüger, N. (PI), Savarimuthu, T. R. (PI), Buch, A. G. (CoI), Schlette, C. (CoI) & Wiuf Schwartz, L. C. M. (CoI)
01/11/2015 → 31/10/2018
Project: Research

Cite this

Savarimuthu, T. R., Buch, A. G., Schlette, C., Wantia, N., Roßmann, J., Martinez, D., Alenya, G., Torras, C., Ude, A., Nemec, B., Kramberger, A., Worgotter, F., Aksoy, E. E., Papon, J., Haller, S., Piater, J., & Kruger, N. (2018). Teaching a Robot the Semantics of Assembly Tasks. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 48(5), 670-692. https://doi.org/10.1109/TSMC.2016.2635479

@article{e39b439a27824926ae29b88b9b2c6a60,

title = "Teaching a Robot the Semantics of Assembly Tasks",

abstract = "We present a three-level cognitive system in a learning by demonstration context. The system allows for learning and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated with these two levels are connected by an efficient mid-level representation based on so-called 'semantic event chains.' We describe details of the representations and quantify the effect of the associated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the overall system by three demonstrations that have been performed at a project review. The described system has a technical readiness level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6.",

keywords = "Benchmark testing, Context, Planning, Robot sensing systems, Semantics, Trajectory, Learning by demonstration (LbD), object recognition, robotic assembly, vision",

author = "Savarimuthu, {T. R.} and Buch, {A. G.} and C. Schlette and N. Wantia and J{\"u}rgen Ro{\ss}mann and D. Martinez and G. Alenya and C. Torras and Ales Ude and Bojan Nemec and Aljaz Kramberger and Florentin Worgotter and Aksoy, {Eren Erdal} and J{\'e}r{\'e}mie Papon and Simon Haller and J. Piater and N. Kruger",

year = "2018",

month = may,

day = "1",

doi = "10.1109/TSMC.2016.2635479",

language = "English",

volume = "48",

pages = "670--692",

journal = "IEEE Transactions on Systems, Man, and Cybernetics: Systems",

issn = "2168-2216",

publisher = "IEEE Advancing Technology for Humanity",

number = "5",

}

Savarimuthu, TR, Buch, AG, Schlette, C, Wantia, N, Roßmann, J, Martinez, D, Alenya, G, Torras, C, Ude, A, Nemec, B, Kramberger, A, Worgotter, F, Aksoy, EE, Papon, J, Haller, S, Piater, J & Kruger, N 2018, 'Teaching a Robot the Semantics of Assembly Tasks', IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 48, no. 5, pp. 670-692. https://doi.org/10.1109/TSMC.2016.2635479

TY - JOUR

T1 - Teaching a Robot the Semantics of Assembly Tasks

AU - Savarimuthu, T. R.

AU - Buch, A. G.

AU - Schlette, C.

AU - Wantia, N.

AU - Roßmann, Jürgen

AU - Martinez, D.

AU - Alenya, G.

AU - Torras, C.

AU - Ude, Ales

AU - Nemec, Bojan

AU - Kramberger, Aljaz

AU - Worgotter, Florentin

AU - Aksoy, Eren Erdal

AU - Papon, Jérémie

AU - Haller, Simon

AU - Piater, J.

AU - Kruger, N.

PY - 2018/5/1

Y1 - 2018/5/1

N2 - We present a three-level cognitive system in a learning by demonstration context. The system allows for learning and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated with these two levels are connected by an efficient mid-level representation based on so-called 'semantic event chains.' We describe details of the representations and quantify the effect of the associated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the overall system by three demonstrations that have been performed at a project review. The described system has a technical readiness level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6.

AB - We present a three-level cognitive system in a learning by demonstration context. The system allows for learning and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated with these two levels are connected by an efficient mid-level representation based on so-called 'semantic event chains.' We describe details of the representations and quantify the effect of the associated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the overall system by three demonstrations that have been performed at a project review. The described system has a technical readiness level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6.

KW - Benchmark testing

KW - Context

KW - Planning

KW - Robot sensing systems

KW - Semantics

KW - Trajectory

KW - Learning by demonstration (LbD)

KW - object recognition

KW - robotic assembly

KW - vision

U2 - 10.1109/TSMC.2016.2635479

DO - 10.1109/TSMC.2016.2635479

M3 - Journal article

SN - 2168-2216

VL - 48

SP - 670

EP - 692

JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems

JF - IEEE Transactions on Systems, Man, and Cybernetics: Systems

IS - 5

ER -

Teaching a Robot the Semantics of Assembly Tasks

Abstract

Keywords

Documents & Links

SDU Link

Related projects

ReconCell: A Reconfigurable robot workCell for fast set-up of automated assembly processes in SMEs

Cite this