Position Paper: Human Skills for Programming-by-Demonstration of Robots

摘要

"Programming-by-Demonstration" (PbD) is a very intuitive and efficient means for programming robots for a specific task. One approach for PbD uses manual guided robots to show the task the robot has to perform. Even though manual guidance is a lot more intuitive than traditional programming, first experiences showed that there is still training needed to make full use of such a system. This paper discusses concepts for PbD and studies the required skills. The focus is less on task skills that are to be tansferred to a robot but more on the skills for using a PbD system (system skills). Furthermore, several tools for PbD, like virtual fixtures, compliant motion or authoring are discussed. Two demonstrators for evaluating concepts and tools for PbD are proposed and described, one augmented reality and one virtual reality demonstrator, both based on the DLR/KUKA light Weight Robot. These demonstrators are suited as skill transfer system for programming robots, as well as training platforms to teach novice users how to program a robot with PbD.