Optimizing Programming by Demonstration for in-contact task models by Incremental Learning

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dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en
dc.contributor.advisor Montebelli, Alberto
dc.contributor.author Tykal, Martin
dc.date.accessioned 2015-09-18T08:47:41Z
dc.date.available 2015-09-18T08:47:41Z
dc.date.issued 2015-08-24
dc.identifier.uri https://aaltodoc.aalto.fi/handle/123456789/17790
dc.description.abstract Despite the increasing usage of robots for industrial applications, many aspects prevent robots from being used in daily life. One of these aspects is that extensive knowledge in programming a robot is necessary to make the robot achieve a desired task. Conventional robot programming is complex, time consuming and expensive, as every aspect of a task has to be considered. Novel intuitive and easy to use methods to program robots are necessary to facilitate the usage in daily life. This thesis proposes an approach that allows a novice user to program a robot by demonstration and provides assistance to incrementally refine the trained skill. The user utilizes kinesthetic teaching to provide an initial demonstration to the robot. Based on the information extracted from this demonstration the robot starts executing the demonstrated task. The assistance system allows the user to train the robot during the execution and thus refine the model of the task. Experiments with a KUKA LWR4+ industrial robot evaluate the performance of the assistance system and advantages over unassisted approaches. Furthermore a user study is performed to evaluate the interaction between a novice user and robot. en
dc.format.extent 72+12
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.title Optimizing Programming by Demonstration for in-contact task models by Incremental Learning en
dc.type G2 Pro gradu, diplomityö en
dc.contributor.school Sähkötekniikan korkeakoulu fi
dc.subject.keyword programming by demonstration en
dc.subject.keyword incremental learning en
dc.subject.keyword human-robot interaction en
dc.subject.keyword assistance en
dc.identifier.urn URN:NBN:fi:aalto-201509184405
dc.programme.major Space Robotics and Automation fi
dc.programme.mcode AS3004 fi
dc.type.ontasot Master's thesis en
dc.type.ontasot Diplomityö fi
dc.contributor.supervisor Kyrki, Ville
dc.programme SST - Space Science and Technology (TS2005) fi
dc.location P1 fi

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