3D-icon based user interaction for robot programming by demonstration

摘要

Within the last years the programming by demonstration (PbD) programming methodology gained more and more attention in robotics. However, a high quality way of human-robot interaction is crucial for a successful application of the PbD methodology in robotics. Hypotheses derived from the programming system, and control knowledge included in a generated robot program has to be checked back with and to be verified by the user in order to avoid potentially harmful errors that lead to faulty code. This paper describes a method for user-robot interaction that is based on 3D-icons and supports and facilitates the programming process in a robot programming by demonstration system significantly.