Franziska Kirstein

Teleoperation for learning by demonstration: Data glove versus object manipulation for intuitive robot control

Learning by demonstration is a useful technique to augment a robots behavioral inventory, and teleoperation allows lay users to demonstrate novel behaviors intuitively to the robot. In this paper, we compare two modes of teleoperation of an industrial robot, the demonstration by means of a data glove and by means of a control object (peg). Experiments with 16 lay users, performing assembly task on the Cranfield benchmark objects, show that the control peg leads to more success, more efficient demonstration and fewer errors.

Human embodiment creates problems for robot learning by demonstration using a control panel

In this paper, problems in instructing an industrial robot by means of a control panel are investigated. In order for the robot to learn as much and as fast as possible from demonstration, the demonstration by the teacher needs to be as precise as possible. Usability studies constitute a useful methodology to investigate in which situations users provide the robot with exact trajectories and, if not, why they face difficulties. Results show that movements involving only the lowest joint of the robot arm are straight-forward and very exact. In contrast, fine movements that involve joints of the upper arm cause considerable problems. The analysis shows that users have to employ separate actions instead of focusing on the target and therefore need to consciously plan the action since they cannot match the robot’s movements with those of their own embodiment. Categories and Subject Descriptors H.1.2 User/Machine Systems General Terms Keywords Human Factors

The Effects of Social Gaze in Human-Robot Collaborative Assembly

In this paper we explore how social gaze in an assembly robot affects how naive users interact with it. In a controlled experimental study, 30 participants instructed an industrial robot to fetch parts needed to assemble a wooden toolbox. Participants either interacted with a robot employing a simple gaze following the movements of its own arm, or with a robot that follows its own movements during tasks, but which also gazes at the participant between instructions. Our qualitative and quantitative analyses show that people in the social gaze condition are significantly more quick to engage the robot, smile significantly more often, and can better account for where the robot is looking. In addition, we find people in the social gaze condition to feel more responsible for the task performance. We conclude that social gaze in assembly scenarios fulfills floor management functions and provides an indicator for the robot’s affordance, yet that it does not influence likability, mutual interest and suspected competence of the robot.

A Comparison of Types of Robot Control for Programming by Demonstration

Programming by Demonstration (PbD) is an efficient way for non-experts to teach new skills to a robot. PbD can be carried out in different ways, for instance, by kinesthetic guidance, teleoperation or by using external controls. In this paper, we compare these three ways of controlling a robot in terms of efficiency, effectiveness (success and error rate) and usability. In an industrial assembly scenario, 51 participants carried out peg-in-hole tasks using one of the three control modalities. The results show that kinesthetic guidance produces the best results. In order to test whether the problems during teleoperation are due to the fact that users cannot, like in kinesthetic guidance, switch between control points using traditional teleoperation devices, we designed a new device that allows users to switch between controls for large and small movements. A user study with 15 participants shows that the novel teleoperation device yields almost as good results as kinesthetic guidance.

Social Robots in Educational Institutions: They came to stay: Introducing, Evaluating, and Securing Social Robots in Daily Education

In this paper, we present a methodology that Blue Ocean Robotics, as a creator of emerging robotic solutions, has compiled based on experiences collected from “Innovation Projects”, where we implement robots in Danish municipalities on a long-term basis. Furthermore, we report on the results from two of our projects where three social robots were successfully implemented into educational institutions, increasing the childrens concentration time and concentration efficiency.

A novel tele-operation device allowing for dynamic switching between control points during learning from demonstration

In an industrial setup it is of great importance to facilitate easy and fast robot teaching in order to meet the increasing demands from industry for high flexibility and efficiency. This paper presents a novel tele-operation device for teaching assembly tasks to robots.