TY - GEN
T1 - Natural language and gesture perception based robot companion teaching for assisting human workers in assembly contexts
AU - Li, Rui
AU - Wang, Weitian
AU - Chen, Yi
AU - Jia, Yunyi
N1 - Publisher Copyright:
Copyright © 2019 ASME
PY - 2019
Y1 - 2019
N2 - In this work, we propose a teaching-learning framework for the robot to learn from multi-modal human demonstrations to build task knowledge and assist its human partner in collaborative tasks. These multi-modal human demonstrations are parameterized by the natural language and forearm gestures. The Random Forests algorithm is employed for the robot to learn from human demonstrations and construct its task knowledge in assembly contexts. The experimental results suggest that the proposed approach can not only have the robot gain the task knowledge directly through the human demonstrations but also provide a more natural and user-friendly robot teaching pattern to non-expert users. In addition, the proposed method can allow the users to customize the motion pattern of the robot according to their working habit.
AB - In this work, we propose a teaching-learning framework for the robot to learn from multi-modal human demonstrations to build task knowledge and assist its human partner in collaborative tasks. These multi-modal human demonstrations are parameterized by the natural language and forearm gestures. The Random Forests algorithm is employed for the robot to learn from human demonstrations and construct its task knowledge in assembly contexts. The experimental results suggest that the proposed approach can not only have the robot gain the task knowledge directly through the human demonstrations but also provide a more natural and user-friendly robot teaching pattern to non-expert users. In addition, the proposed method can allow the users to customize the motion pattern of the robot according to their working habit.
UR - http://www.scopus.com/inward/record.url?scp=85076417275&partnerID=8YFLogxK
U2 - 10.1115/DSCC2019-9177
DO - 10.1115/DSCC2019-9177
M3 - Conference contribution
AN - SCOPUS:85076417275
T3 - ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
BT - Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Y2 - 8 October 2019 through 11 October 2019
ER -