Leveraging on a virtual environment for robot programming by demonstration

被引：53

作者：

Aleotti, J ^{[1
]}

Caselli, S ^{[1
]}

Reggiani, M ^{[1
]}

机构：

[1] Univ Parma, Dipartimento Ingn Informaz, I-43100 Parma, Italy

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2004年 / 47卷 / 2-3期

关键词：

robot programming; programming by demonstration; virtual fixtures; virtual environments;

D O I：

10.1016/j.robot.2004.03.009

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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. (C) 2004 Elsevier B.V. All rights reserved.

引用

页码：153 / 161

页数：9

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