Programming by demonstration of the sequence of tightening a nut allowing variations in tool position
A technique of programming by demonstration of a robot is proposed. Such a technique allows that a robot execute sequential or complex tasks. It uses a combination of Petri nets and task parameterized Gaussian mixture models. The first one handles the task sequence, while the second one allows varia...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Instituto Tecnológico Metropolitano
2016-01-01
|
| Series: | TecnoLógicas |
| Subjects: | |
| Online Access: | http://itmojs.itm.edu.co/index.php/tecnologicas/article/view/867/802 |
| _version_ | 1818201195693473792 |
|---|---|
| author | José G. Hoyos-Gutiérrez Flavio A. Prieto-Ortiz |
| author_facet | José G. Hoyos-Gutiérrez Flavio A. Prieto-Ortiz |
| author_sort | José G. Hoyos-Gutiérrez |
| collection | DOAJ |
| description | A technique of programming by demonstration of a robot is proposed. Such a technique allows that a robot execute sequential or complex tasks. It uses a combination of Petri nets and task parameterized Gaussian mixture models. The first one handles the task sequence, while the second one allows variations in the position and orientation of objects involved in the task. Using a segmentation task technique, the demonstration is chunked in subtasks. With the subtasks sequence, an action list or plan is obtained and with this, a Petri net is automatically generate. Models of the templates of each subtasks and task parameterized Gaussian mixture models of the subtask that we want to allow variations are also provide to the technique. A function compare one each of the template trajectory with the task parameterized model response trajectory and the most similar indicate that instead of the template, the task parameterized model is use. Through the use of a homemade robot, which executes the task of tightening a nut, the performance of the technique is illustrated by using figures. |
| first_indexed | 2024-12-12T02:49:42Z |
| format | Article |
| id | doaj.art-50cbabaa094846dba5f74c56a9117757 |
| institution | Directory Open Access Journal |
| issn | 0123-7799 2256-5337 |
| language | English |
| last_indexed | 2024-12-12T02:49:42Z |
| publishDate | 2016-01-01 |
| publisher | Instituto Tecnológico Metropolitano |
| record_format | Article |
| series | TecnoLógicas |
| spelling | doaj.art-50cbabaa094846dba5f74c56a91177572022-12-22T00:40:55ZengInstituto Tecnológico MetropolitanoTecnoLógicas0123-77992256-53372016-01-011936779010.22430/22565337.589 Programming by demonstration of the sequence of tightening a nut allowing variations in tool positionJosé G. Hoyos-Gutiérrez0Flavio A. Prieto-Ortiz1 Universidad del Quindío Universidad Nacional de ColombiaA technique of programming by demonstration of a robot is proposed. Such a technique allows that a robot execute sequential or complex tasks. It uses a combination of Petri nets and task parameterized Gaussian mixture models. The first one handles the task sequence, while the second one allows variations in the position and orientation of objects involved in the task. Using a segmentation task technique, the demonstration is chunked in subtasks. With the subtasks sequence, an action list or plan is obtained and with this, a Petri net is automatically generate. Models of the templates of each subtasks and task parameterized Gaussian mixture models of the subtask that we want to allow variations are also provide to the technique. A function compare one each of the template trajectory with the task parameterized model response trajectory and the most similar indicate that instead of the template, the task parameterized model is use. Through the use of a homemade robot, which executes the task of tightening a nut, the performance of the technique is illustrated by using figures.http://itmojs.itm.edu.co/index.php/tecnologicas/article/view/867/802Robot programming by demonstrationTask segmentationComplex tasksTask parameterized Gaussian Mixture modelPetri nets. |
| spellingShingle | José G. Hoyos-Gutiérrez Flavio A. Prieto-Ortiz Programming by demonstration of the sequence of tightening a nut allowing variations in tool position TecnoLógicas Robot programming by demonstration Task segmentation Complex tasks Task parameterized Gaussian Mixture model Petri nets. |
| title | Programming by demonstration of the sequence of tightening a nut allowing variations in tool position |
| title_full | Programming by demonstration of the sequence of tightening a nut allowing variations in tool position |
| title_fullStr | Programming by demonstration of the sequence of tightening a nut allowing variations in tool position |
| title_full_unstemmed | Programming by demonstration of the sequence of tightening a nut allowing variations in tool position |
| title_short | Programming by demonstration of the sequence of tightening a nut allowing variations in tool position |
| title_sort | programming by demonstration of the sequence of tightening a nut allowing variations in tool position |
| topic | Robot programming by demonstration Task segmentation Complex tasks Task parameterized Gaussian Mixture model Petri nets. |
| url | http://itmojs.itm.edu.co/index.php/tecnologicas/article/view/867/802 |
| work_keys_str_mv | AT joseghoyosgutierrez programmingbydemonstrationofthesequenceoftighteninganutallowingvariationsintoolposition AT flavioaprietoortiz programmingbydemonstrationofthesequenceoftighteninganutallowingvariationsintoolposition |