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Knowledge Acquisition Through Human Demonstration for Industrial Robotic Assembly

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Advances in Service and Industrial Robotics (RAAD 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 980))

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Abstract

With the ambition to introduce robots into assembly lines, not suitable for classical automation, the ease of robot programming is becoming more significant then ever. This paper proposes using various approaches for gaining knowledge from human demonstrations. This knowledge is applied to perform assembly tasks in a industrial robotic cell. Real industrial use case is used for evaluation of proposed approaches. It shows their viability and presents different scenarios which call for different approaches of learning and execution of assembly tasks and its subsets.

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Acknowledgment

This work has received funding from the EU’s Horizon 2020 IA ReconCell (GA no. 680431) and from GOSTOP programme C3330-16-529000 co-financed by Slovenia and EU under ERDF.

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Authors and Affiliations

  1. Jožef Stefan Institute, Jamova Cesta 39, 1000, Ljubljana, Slovenia

    Timotej Gašpar, Miha Deniša & Aleš Ude

Authors
  1. Timotej Gašpar
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  2. Miha Deniša
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  3. Aleš Ude
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Corresponding author

Correspondence to Timotej Gašpar .

Editor information

Editors and Affiliations

  1. Department of Computer Science, Robotics Research Lab, Technische Universität Kaiserslautern, Kaiserslautern, Germany

    Karsten Berns

  2. Department of Electrical and Computer Engineering, Electromobility Group, Technische Universität Kaiserslautern, Kaiserslautern, Germany

    Daniel Görges

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Gašpar, T., Deniša, M., Ude, A. (2020). Knowledge Acquisition Through Human Demonstration for Industrial Robotic Assembly. In: Berns, K., Görges, D. (eds) Advances in Service and Industrial Robotics. RAAD 2019. Advances in Intelligent Systems and Computing, vol 980. Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_40

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