Programming Robots Via Learning By Showing in a Virtual Environment

摘要

We propose the so-called TeleSensorProgramming concept that uses sensory perception to achieve local autonomy in robotic manipulation. Sensor-based robot tasks are used to define elemental moves within a high level programming environment. This approach is applicable in both, the real robot's world and the simulated one, i.e. in a virtual environment. Beside the graphical off-line programming concept, the range of application lies especially in the field of teleoperation with large time delays. A shared autonomy concept is proposed that distributes intelligence between man and machine. The feasibility of graphically simulating the robot within its environment is extended by emulating different sensor functions like distance, force-torque and vision sensors to achieve a correct copy of the real system behaviour as far as possible. These simulation features are embedded in a task driven high level robot programming approach. This implicit programming paradigm is supported by a sophistica...