Robot programming by demonstration through system identification

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Proceeding (Non-Journal item)

22 Citations (SciVal)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages801-806
Number of pages6
DOIs
Publication statusPublished - 10 Dec 2007
Externally publishedYes
EventIntelligent Robots and Systems - San Diego, CA, United States of America
Duration: 29 Oct 200702 Nov 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

ConferenceIntelligent Robots and Systems
Abbreviated titleIROS-2007
Country/TerritoryUnited States of America
CitySan Diego, CA
Period29 Oct 200702 Nov 2007

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