{"title":"Trajectory modification of a cloud learning robot","authors":"K. Song, Shao-Huan Song, Hung-Shen Liu","doi":"10.1109/CACS.2017.8284262","DOIUrl":null,"url":null,"abstract":"In the near future, home service robots will enter our daily life and interact with people more and more frequently. In order to cope with the needs and habits of different users, an easy robot programming method is desirable. For some users, who are not familiar with programming, customizing the robot program deserves attention. This paper suggests a method to use Programming by Demonstration(PbD) to teach a robot through user demonstration of the trajectory and save the trajectory into a cloud database to facilitate future playback when needed. Through the cloud database, each robot shares previously recorded trajectories. However, in many cases a recorded trajectory may need to be modified to be customized for an individual user. In this paper, a method is proposed to facilitate the robot to return to the original trajectory as part of the retrieved trajectory is modified. Experimental results are presented by using two robots in the robotic cloud system. The first one is the prototype dual-arm home service robot Aladdin developed in the lab. The second robot is a TM5 robot from Techman, which reproduced the learned trajectories remotely.","PeriodicalId":185753,"journal":{"name":"2017 International Automatic Control Conference (CACS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 International Automatic Control Conference (CACS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CACS.2017.8284262","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
In the near future, home service robots will enter our daily life and interact with people more and more frequently. In order to cope with the needs and habits of different users, an easy robot programming method is desirable. For some users, who are not familiar with programming, customizing the robot program deserves attention. This paper suggests a method to use Programming by Demonstration(PbD) to teach a robot through user demonstration of the trajectory and save the trajectory into a cloud database to facilitate future playback when needed. Through the cloud database, each robot shares previously recorded trajectories. However, in many cases a recorded trajectory may need to be modified to be customized for an individual user. In this paper, a method is proposed to facilitate the robot to return to the original trajectory as part of the retrieved trajectory is modified. Experimental results are presented by using two robots in the robotic cloud system. The first one is the prototype dual-arm home service robot Aladdin developed in the lab. The second robot is a TM5 robot from Techman, which reproduced the learned trajectories remotely.
在不久的将来,家庭服务机器人将进入我们的日常生活,与人们的互动越来越频繁。为了应对不同用户的需求和习惯,需要一种简单的机器人编程方法。对于一些不熟悉编程的用户来说,定制机器人程序值得关注。本文提出了一种利用PbD (Programming by Demonstration)技术,通过用户演示轨迹来教授机器人,并将轨迹保存到云数据库中,以便将来需要时回放的方法。通过云数据库,每个机器人共享先前记录的轨迹。然而,在许多情况下,记录的轨迹可能需要修改,以便为单个用户定制。在本文中,提出了一种方法,使机器人在修改部分检索到的轨迹后,能够返回到原始轨迹。给出了在机器人云系统中使用两个机器人的实验结果。第一个是实验室开发的双臂家庭服务机器人阿拉丁的原型。第二个机器人是来自Techman的TM5机器人,它可以远程复制学习轨迹。