A Tangible Interface for Transferring Skills

详细信息    查看全文

• 作者：Davide De Tommaso (1) davide.detommaso@iit.it
  Sylvain Calinon (1) sylvain.calinon@iit.it
  Darwin G. Caldwell (1) darwin.caldwell@iit.it
• 关键词：Human ; Robot interaction – ; Learning from Demonstration – ; Tangible interfaces – ; Augmented reality
• 刊名：International Journal of Social Robotics
• 出版年：2012
• 出版时间：November 2012
• 年：2012
• 卷：4
• 期：4
• 页码：397-408
• 全文大小：1,007.5 KB
• 参考文献：1. Aleny脿 G, Dellen B, Torras C (2011) 3D modelling of leaves from color and ToF data for robotized plant measuring. In: Proceedings of IEEE international conference on robotics and automation (ICRA), pp 3408–3414
  2. Aleotti J, Caselli S (2006) Grasp recognition in virtual reality for robot pregrasp planning by demonstration. In: Proceedings of IEEE international conference on robotics and automation (ICRA), pp 2801–2806
  3. Bimber O, Raskar R (2005) Spatial augmented reality: a modern approach to augmented reality. In: Proceedings of annual conference on computer graphics and interactive techniques (SIGGRAPH). ACM, New York
  4. Calinon S, Billard A (2007) What is the teacher’s role in robot programming by demonstration? Toward benchmarks for improved learning. Interact Stud 8(3):441–464 (Special issue on psychological benchmarks in human-robot interaction)
  5. Calinon S, Guenter F, Billard A (2007) On learning, representing and generalizing a task in a humanoid robot. IEEE Trans Syst Man Cybern, Part B, Cybern 37(2):286–298
  6. Calinon S, Sardellitti I, Caldwell DG (2010) Learning-based control strategy for safe human-robot interaction exploiting task and robot redundancies. In: Proc IEEE/RSJ intl conf on intelligent robots and systems (IROS), Taipei, Taiwan, pp 249–254
  7. Chernova S, Veloso M (2010) Confidence-based multi-robot learning from demonstration. Int J Soc Robot 2(2):195–215
  8. Delson N, West H (1994) Robot programming by human demonstration: the use of human variation in identifying obstacle free trajectories. In: Proceedings of IEEE international conference on robotics and automation (ICRA), pp 564–571
  9. Dourish P (2001) Where the action is: the foundations of embodied interaction. MIT Press, Cambridge
  10. Ekvall S, Kragic D (2006) Learning task models from multiple human demonstrations. In: The 15th IEEE international symposium on robot and human interactive communication (ROMAN), pp 358–363
  11. Faugeras OD, Toscani G (1986) The calibration problem for stereo. In: Proceeding of the IEEE computer society conference on computer vision and pattern recognition (CVPR), pp 15–20
  12. Featherstone R, Orin DE, (2008) Dynamics. In: Siciliano B, Khatib OO (eds) Handbook of robotics. Springer, Secaucus, pp 35–65
  13. Friedrich H, Muench S, Dillmann R, Bocionek S, Sassin M (1996) Robot programming by demonstration (RPD): supporting the induction by human interaction. Mach Learn 23(2):163–189
  14. Gillet A, Sanner M, Stoffler D, Olson A (2005) Tangible augmented interfaces for structural molecular biology. IEEE Comput Graph Appl 25:13–17
  15. Greenfield P (1984) Theory of the teacher in learning activities of everyday life. In: Rogoff B, Lave J (eds) Everyday cognition: its development in social context. Harvard University Press, Cambridge
  16. Harrison C, Benko H, Wilson AD (2011) Omnitouch: wearable multitouch interaction everywhere. In: Proceedings of the 24th annual ACM symposium on user interface software and technology (UIST). ACM, New York, pp 441–450
  17. Hosoi K, Dao VN, Mori A, Sugimoto M (2007) Visicon: a robot control interface for visualizing manipulation using a handheld projector. In: Proceedings of the international conference on advances in computer entertainment technology. ACM, New York, pp 99–106
  18. Ishii H, Ullmer B (1997) Tangible bits: towards seamless interfaces between people, bits and atoms. In: Proceedings of the SIGCHI conference on human factors in computing systems (CHI). ACM, New York, pp 234–241
  19. Ito M, Noda K, Hoshino Y, Tani J (2006) Dynamic and interactive generation of object handling behaviors by a small humanoid robot using a dynamic neural network model. Neural Netw 19(3):323–337
  20. Kazuki K, Seiji Y (2010) Extending commands embedded in actions for human-robot cooperative tasks. Int J Soc Robot 2(2):159–173
  21. Kendall DG (1989) A survey of the statistical theory of shape. Stat Sci 4(2):87–99
  22. Kheddar A (2001) Teleoperation based on the hidden robot concept. IEEE Trans Syst Man Cybern, Part A, Syst Hum 31(1):1–13
  23. Klemmer SR, Hartmann B, Takayama L (2006) How bodies matter: five themes for interaction design. In: Proceedings of the 6th conference on designing interactive systems (DIS). ACM, New York, pp 140–149
  24. Kuniyoshi Y, Inaba M, Inoue H (1989) Teaching by showing: Generating robot programs by visual observation of human performance. In: Proceedings intl symposium of industrial robots, Tokyo, Japan, pp 119–126
  25. Lauria S, Bugmann G, Kyriacou T, Klein E (2002) Mobile robot programming using natural language. Robot Auton Syst 38(3–4):171–181
  26. Linder N, Maes P (2010) LuminAR: portable robotic augmented reality interface design and prototype. In: Adjunct proceedings of the 23nd annual ACM symposium on user interface software and technology (UIST). ACM, New York, pp 395–396
  27. Luh JYS, Walker MW, Paul RPC (1980) Resolved-acceleration control of mechanical manipulators. IEEE Trans Autom Control 25:468–474
  28. Nicolescu MN, Mataric MJ (2003) Natural methods for robot task learning: instructive demonstrations, generalization and practice. In: Second international joint conference on autonomous agents and Multi-Agents and Multi-Agent systems, Melbourne, Australia
  29. Ogawara K, Takamatsu J, Kimura H, Ikeuchi K (2003) Extraction of essential interactions through multiple observations of human demonstrations. In: IEEE transactions on industrial joint Conference on autonomous agents and multiagent systems, pp 667–675
  30. Okada K, Kino Y, Inaba M, Inoue H (2003) Visually-based humanoid remote control system under operator’s assistance and its application to object manipulation. In: Proc IEEE intl conf on humanoid robots (Humanoids), Karlsruhe, Germany
  31. OpenKinect: Kinect calibrations. Online available at http://openkinect.org/wiki/Calibration
  32. OpenNI (User Guide (2010)). Online available at http://openni.org/documentation
  33. Park J, Kim GJ (2009) Robots with projectors: an alternative to anthropomorphic HRI. In: Proceedings of the 4th ACM/IEEE international conference on human robot interaction (HRI). ACM, New York, pp 221–222
  34. Primesense NITE 1.3 algorithms notes (2010). Online available at http://primesense.com
  35. Rusu RB, Cousins S (2011) 3D is here: point cloud library PCL. In: Proceedings of IEEE international conference on robotics and automation (ICRA), Shanghai, China
  36. Sch枚ning J, Rohs M, Kratz S, L枚chtefeld M, Kr眉ger A (2009) Map torchlight: a mobile augmented reality camera projector unit. In: Adjunct proceedings of the 27th international conference on human factors in computing systems (CHI EA). ACM, New York, pp 3841–3846
  37. Segre AM (1988) Machine learning of robot assembly plans. Kluwer Academic, Norwell
  38. Shotton J, Fitzgibbon AW, Cook M, Sharp T, Finocchio M, Moore R, Kipman A, Blake A (2011) Real-time human pose recognition in parts from single depth images. In: Proceeding of the IEEE computer society conference on computer vision and pattern recognition (CVPR), pp 1297–1304
  39. Song H, Grossman T, Fitzmaurice G, Guimbretiere F, Khan A, Attar R, Kurtenbach G (2009) Penlight: combining a mobile projector and a digital pen for dynamic visual overlay. In: Proceedings of the 27th international conference on human factors in computing systems (CHI). ACM, New York, pp 143–152
  40. Thomaz AL, Breazeal C (2008) Teachable robots: understanding human teaching behavior to build more effective robot learners. Artif Intell 172(6–7):716–737
  41. Vogel C, Poggendorf M, Walter C, Elkmann N (2011) Towards safe physical human-robot collaboration: a projection-based safety system. In: Proceedings of international conference on intelligent robots and systems IEEE/RSJ, San Francisco, CA, USA, pp 3355–3360
  42. Voyles R, Khosla P (1998) A multi-agent system for programming robotic agents by human demonstration. In: AI and manufacturing research planning workshop
• 作者单位：1. Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30, 16163 Genova, Italy
• ISSN：1875-4805

文摘

Our research focuses on exploring new modalities to make robots acquire skills in a fast and user-friendly manner. In this work we present a novel active interface with perception and projection capabilities for simplifying the skill transfer process. The interface allows humans and robots to interact with each other in the same environment, with respect to visual feedback. During the learning process, the real workspace is used as a tangible interface for helping the user to better understand what the robot has learned up to then, to display information about the task or to get feedback and guidance. Thus, the user is able to incrementally visualize and assess the learner’s state and, at the same time, focus on the skill transfer without disrupting the continuity of the teaching interaction. We also propose a proof-of-concept, as a core element of the architecture, based on an experimental setting where a pico-projector and an rgb-depth sensor are mounted onto the end-effector of a 7-DOF robotic arm.