Robot programming by demonstration through system identification

U. Nehmzow*, O. Akanyeti, Christoph Weinrich, Theocharis Kyriacou, S. A. Billings

*Awdur cyfatebol y gwaith hwn

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)

22 Dyfyniadau(SciVal)

Crynodeb

Increasingly, personalised robots - robots especially designed and programmed for an individual's needs and preferences - are being used to support humans in their daily lives, most notably in the area of service robotics. Arguably, the closer the robot is programmed to the individual's needs, the more useful it is, and we believe that giving people the opportunity to program their own robots, rather than programming robots for them, will push robotics research one step further in the personalised robotics field. However, traditional robot programming techniques require specialised technical skills from different disciplines and it is not reasonable to expect end-users to have these skills. In this paper, we therefore present a new method of obtaining robot control code - programming by demonstration through system identification - which algorithmically and automatically transfers human behaviours into robot control code, using transparent, analysable mathematical functions. Besides providing a simple means of generating perception-action mappings, they have the additional advantage that can also be used to form hypotheses and theoretical analysis of robot behaviour. We demonstrate the viability of this approach by teaching a Scitos G5 mobile robot to achieve wall following and corridor passing behaviours.

Iaith wreiddiolSaesneg
TeitlProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Tudalennau801-806
Nifer y tudalennau6
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 10 Rhag 2007
Cyhoeddwyd yn allanolIe
DigwyddiadIntelligent Robots and Systems - San Diego, CA, Unol Daleithiau America
Hyd: 29 Hyd 200702 Tach 2007

Cyfres gyhoeddiadau

EnwIEEE International Conference on Intelligent Robots and Systems

Cynhadledd

CynhadleddIntelligent Robots and Systems
Teitl crynoIROS-2007
Gwlad/TiriogaethUnol Daleithiau America
DinasSan Diego, CA
Cyfnod29 Hyd 200702 Tach 2007

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