Manipulation Primitives — A Universal Interface between Sensor-Based Motion Control and Robot Programming

Kröger, Torsten; Finkemeyer, Bernd; Wahl, Friedrich M.

doi:10.1007/978-3-642-16785-0_17

Cited by 36 publications

(17 citation statements)

References 32 publications

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“…Skill primitives have been constantly modified and improved so that complex robot task can be coded as nets of skill primitives [8]. The full task frame formalism has been applied and implemented for Cartesian force-feedback controlled parallel and serial robots [6], [9], [10]. Manipulation primitives net support- ing an extended task frame formalism are implemented by Kroeger et al [10].…”

Section: Related Workmentioning

confidence: 99%

“…The full task frame formalism has been applied and implemented for Cartesian force-feedback controlled parallel and serial robots [6], [9], [10]. Manipulation primitives net support- ing an extended task frame formalism are implemented by Kroeger et al [10]. In particular manipulation primitives are designed for force-feedback controlled robots.…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

A new skill based robot programming language using UML/P Statecharts

Thomas

Hirzinger

Rumpe

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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This paper introduces the new robot programming language LightRocks(Light Weight Robot Coding for Skills), a domain specific language (DSL) for robot programming. The language offers three different level of abstraction for robot programming. On lowest level skills are coded by domain experts. On a more abstract level these skills are supposed to be combined by shop floor workers or technicians to define tasks. The language is designed to allow as much flexibility as necessary on the lowest level of abstraction and is kept as simple as possible with the more abstract layers. A Statechart like model is used to describe the different levels of detail. For this we apply the UML/P and the language workbench MontiCore. To this end we are able to generate code while hiding controller specific implementation details. In addition the development in LightRocks is supported by a generic graphical editor implemented as an Eclipse plugin.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

A new skill based robot programming language using UML/P Statecharts

Thomas

Hirzinger

Rumpe

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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“…A use of motion primitives, that somewhat resemble our notion of general robot skills, is the Manipulation Primitives (MPs) described in [28,29]. This work expands on the Task Frame Formalism (TFF) [10], by enabling the use of any sensor and controller in the same task frame (e.g.…”

Section: Related Workmentioning

confidence: 98%

Gesture-Based Extraction of Robot Skill Parameters for Intuitive Robot Programming

Pedersen

Krüger

2015

J Intell Robot Syst

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Despite a lot of research in the field, only very little experience exists with Teaching by Demonstration (TbD) in actual industrial use cases. In the factory of the future, it is necessary to rapidly reprogram flexible mobile manipulators to perform new tasks, when the need arises, for which a working system capable of TbD would be ideal. Contrary to current TbD approaches, that generally aim to recognize both action and where it is applied, we propose a division of labor, where the operator manually specifies the action the robot should perform, while gestures are used for specifying the relevant action parameter (e.g. on which object to apply the action). Using this two-step method has the advantages that there is no uncertainty of which action the robot will perform, it takes into account that the environment changes, so objects do not need to be at predefined locations, and the parameter specification is possible even for inexperienced users. Experiments with 24 people in 3 different environments verify that it is indeed intuitive, even for a robotics novice, to program a mobile manipulator using this method. M. R. Pedersen ( ) · V. Krüger Robotics, Vision and Machine Intelligence (RVMI) Lab,

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“…Recent work has expanded upon this idea, for instance enabling the use of any sensor and controller in the same task frame (e.g. visual servoing combined with force control), and operating in a dynamic task frame [25][26][27].…”

Section: Related Workmentioning

confidence: 99%