Teleoperation for learning by demonstration: Data glove versus object manipulation for intuitive robot control

Kamil Kukliński; Kerstin Fischer; Ilka Marhenke; Franziska Kirstein; Maria Vanessa Aus der Wieschen; Dorthe Sølvason; Norbert Krüger; Thiusius Rajeeth Savarimuthu

doi:10.1109/ICUMT.2014.7002126

Teleoperation for learning by demonstration: Data glove versus object manipulation for intuitive robot control

Kamil Kukliński, Kerstin Fischer, Ilka Marhenke, Franziska Kirstein, Maria Vanessa Aus der Wieschen, Dorthe Sølvason, Norbert Krüger, Thiusius Rajeeth Savarimuthu

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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.

Original language	English
Title of host publication	Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on
Publisher	IEEE
Publication date	2014
Pages	346-351
DOIs	https://doi.org/10.1109/ICUMT.2014.7002126
Publication status	Published - 2014
Event	2014 6th International Congress on - St. Petersburg, Russian Federation Duration: 6. Oct 2014 → 8. Oct 2014 Conference number: 6

Conference

Conference	2014 6th International Congress on
Number	6
Country/Territory	Russian Federation
City	St. Petersburg
Period	06/10/2014 → 08/10/2014

Keywords

Teleoperation
Control Device
Object Manipulation
Robot Control
Learning by Demonstration

Documents & Links

10.1109/ICUMT.2014.7002126

http://ieeexplore.ieee.org/xpl/abstractAuthors.jsp?arnumber=7002126

Cite this

Kukliński, K., Fischer, K., Marhenke, I., Kirstein, F., Aus der Wieschen, M. V., Sølvason, D., Krüger, N., & Savarimuthu, T. R. (2014). Teleoperation for learning by demonstration: Data glove versus object manipulation for intuitive robot control. In Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on (pp. 346-351 ). IEEE. https://doi.org/10.1109/ICUMT.2014.7002126

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title = "Teleoperation for learning by demonstration: Data glove versus object manipulation for intuitive robot control",

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.",

keywords = "Teleoperation, Control Device, Object Manipulation, Robot Control, Learning by Demonstration",

author = "Kamil Kukli{\'n}ski 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}",

year = "2014",

doi = "10.1109/ICUMT.2014.7002126",

language = "English",

pages = "346--351 ",

booktitle = "Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on",

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note = "2014 6th International Congress on , ICUMT 2014 ; Conference date: 06-10-2014 Through 08-10-2014",

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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. in Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on . IEEE, pp. 346-351 , 2014 6th International Congress on , St. Petersburg, Russian Federation, 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 et al.

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

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-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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KW - Object Manipulation

KW - Robot Control

KW - Learning by Demonstration

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BT - Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on

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ER -

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. In Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on . IEEE. 2014. p. 346-351 doi: 10.1109/ICUMT.2014.7002126

Teleoperation for learning by demonstration: Data glove versus object manipulation for intuitive robot control

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Keywords

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