Programming by Interactive Demonstration for a Human Robot Collaborative Assembly

Akkaladevi, Sharath Chandra; Plasch, Matthias; Chitturi, Naresh; Hofmann, Michaël; Pichler, Andreas

doi:10.1016/j.promfg.2020.10.022

Cited by 6 publications

(4 citation statements)

References 15 publications

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“…The movement of the marker is tracked with the RGB-D camera and transferred into a motion planner. In the recent works ( van Delden et al (2012) ; Akkaladevi et al (2019 , 2020) ; Ajaykumar et al (2021) ), several works address intuitive programming approaches via vision systems for specific processes such as Pick-and-Place and assembly. In ( van Delden et al (2012) ), a multimodal teaching approach via gesture and voice is developed for the Pick-and-Place application.…”

Section: Related Workmentioning

confidence: 99%

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No-code robotic programming for agile production: A new markerless-approach for multimodal natural interaction in a human-robot collaboration context

et al. 2022

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Industrial robots and cobots are widely deployed in most industrial sectors. However, robotic programming still needs a lot of time and effort in small batch sizes, and it demands specific expertise and special training, especially when various robotic platforms are required. Actual low-code or no-code robotic programming solutions are exorbitant and meager. This work proposes a novel approach for no-code robotic programming for end-users with adequate or no expertise in industrial robotic. The proposed method ensures intuitive and fast robotic programming by utilizing a finite state machine with three layers of natural interactions based on hand gesture, finger gesture, and voice recognition. The implemented system combines intelligent computer vision and voice control capabilities. Using a vision system, the human could transfer spatial information of a 3D point, lines, and trajectories using hand and finger gestures. The voice recognition system will assist the user in parametrizing robot parameters and interacting with the robot’s state machine. Furthermore, the proposed method will be validated and compared with state-of-the-art “Hand-Guiding” cobot devices within real-world experiments. The results obtained are auspicious, and indicate the capability of this novel approach for real-world deployment in an industrial context.

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Section: Related Workmentioning

confidence: 99%

“…Hence, a voice command is given to the robot to pick or place the object. An intuitive programming approach by demonstration is developed in ( Akkaladevi et al (2020) ). This approach uses a multi-camera setup to track the assembly tasks performed by the user.…”

Section: Related Workmentioning

confidence: 99%

No-code robotic programming for agile production: A new markerless-approach for multimodal natural interaction in a human-robot collaboration context

et al. 2022

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“…In this context, Programming by Demonstration (PbD) emerges as a viable solution. This technique involves the human operator demonstrating the task and then the robotic system executing it [18,19]. The inclusion of human natural language can simplify the PbD process with a robotic arm.…”

Section: Introductionmentioning

confidence: 99%

Development of a Human–Robot Interface for Cobot Trajectory Planning Using Mixed Reality

Calderón-Sesmero,

Duque-Domingo,

Gómez-García-Bermejo

et al. 2024

Electronics

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The growing demand for projects with collaborative robots, known as “cobots”, underlines the need to efficiently address the execution of tasks with speed and flexibility, without neglecting safety in human–robot interaction. In general terms, this practice requires knowledge of robotics programming and skill in the use of hardware. The proposed solution consists of a mixed reality (MR) application integrated into a mixed reality head-mounted device (HMD) that accelerates the process of programming the complex manoeuvres of a cobot. This advancement is achieved through voice and gesture recognition, in addition to the use of digital panels. This allows any user, regardless of his or her robotics experience, to work more efficiently. The Robot Operating System (ROS) platform monitors the cobot and manages the transfer of data between the two. The system uses QR (Quick Response) codes to establish a precise frame of reference. This solution has proven its applicability in industrial processes, by automating manoeuvres and receiving positive feedback from users who have evaluated its performance. This solution promises to revolutionize the programming and operation of cobots, and pave the way for efficient and accessible collaborative robotics.

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“…HRC has become a research hotspot and is widely used, including in elderly care, space stations, rescue, and assembly [8,9]. A review of stateof-the-art physical human-robot collaborative assembly tasks was introduced in [10,11]. HRC can solve various industry problems and so has become an area worthy of study [12].…”

Section: Introductionmentioning

confidence: 99%

Human–Robot Collaborative Assembly Based on Eye-Hand and a Finite State Machine in a Virtual Environment

Zhao

Chen

et al. 2021

Applied Sciences

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With the development of the global economy, the demand for manufacturing is increasing. Accordingly, human–robot collaborative assembly has become a research hotspot. This paper aims to solve the efficiency problems inherent in traditional human-machine collaboration. Based on eye–hand and finite state machines, a collaborative assembly method is proposed. The method determines the human’s intention by collecting posture and eye data, which can control a robot to grasp an object, move it, and perform co-assembly. The robot’s automatic path planning is based on a probabilistic roadmap planner. Virtual reality tests show that the proposed method is more efficient than traditional methods.

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Programming by Interactive Demonstration for a Human Robot Collaborative Assembly

Cited by 6 publications

References 15 publications

No-code robotic programming for agile production: A new markerless-approach for multimodal natural interaction in a human-robot collaboration context

No-code robotic programming for agile production: A new markerless-approach for multimodal natural interaction in a human-robot collaboration context

Development of a Human–Robot Interface for Cobot Trajectory Planning Using Mixed Reality

Human–Robot Collaborative Assembly Based on Eye-Hand and a Finite State Machine in a Virtual Environment

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