Robot Programming by Demonstration (RPD) - Using Machine Learning and User Interaction Methods for the Development of Easy and Comfortable Robot Programming Systems

摘要

Abstract- Robot Programming by Demonstration is an intuitive method to program a robot. The programmer shows how a particular task is performed, using an interface device that allows the measurement and recording of the human’s motions and other parameters that are relevant to perform the demonstrated task. This paper presents an analysis of the learning and interaction requirements that are characteristic for an RPD system. Based on these requirements, a new system architecture is proposed that supports all phases of the interactive programming process. For an example task, experimental results are given.