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Leveraging on a virtual environment for robot programming by demonstration

✍ Scribed by J. Aleotti; S. Caselli; M. Reggiani

Publisher: Elsevier Science
Year: 2004
Tongue: English
Weight: 259 KB
Volume: 47
Category: Article
ISSN: 0921-8890
DOI: 10.1016/j.robot.2004.03.009

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✦ Synopsis

The Programming by Demonstration paradigm promises to reduce the complexity of robot programming. Its aim is to let robot systems learn new behaviors from a human operator demonstration. In this paper, we argue that while providing demonstrations in the real environment enables teaching of general tasks, for tasks whose essential features are known a priori demonstrating in a virtual environment may improve efficiency and reduce trainer's fatigue. We next describe a prototype system supporting Programming by Demonstration in a virtual environment and we report results obtained exploiting simple virtual tactile fixtures in pick-and-place tasks.

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