Using human gestures and generic skills to instruct a mobile robot arm in a feeder filling scenario

Mikkel Rath Pedersen; Carsten Høilund; Volker Krüger

doi:10.1109/ICMA.2012.6282849

Using human gestures and generic skills to instruct a mobile robot arm in a feeder filling scenario

Mikkel Rath Pedersen, Carsten Høilund, Volker Krüger

Aalborg University

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

Abstract

Mobile robots that have the ability to cooperate with humans are able to provide new possibilities to manufacturing industries. In this paper, we discuss our mobile robot arm that can a) provide assistance at different locations in a factory and b) be programmed using complex human actions such as pointing in Take this object. We discuss the use of the mobile robot for a feeding scenario where a human operator specifies the parts and the feeders through pointing gestures. The system is partially built using generic robotic skills. Through extensive experiments, we evaluate different aspects of the system.

Original language	English
Title of host publication	2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
Pages	243-248
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2012.6282849
Publication status	Published - 2012 Oct 23
Externally published	Yes
Event	2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 - Chengdu, China Duration: 2012 Aug 5 → 2012 Aug 8

Conference

Conference	2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Country/Territory	China
City	Chengdu
Period	2012/08/05 → 2012/08/08

Free keywords

feeding
gesture recognition
mobile robot
robot skills
teaching by demonstration

Access to Document

10.1109/ICMA.2012.6282849

Cite this

@inproceedings{51a7324995e64747b5e1a420723ff605,

title = "Using human gestures and generic skills to instruct a mobile robot arm in a feeder filling scenario",

abstract = "Mobile robots that have the ability to cooperate with humans are able to provide new possibilities to manufacturing industries. In this paper, we discuss our mobile robot arm that can a) provide assistance at different locations in a factory and b) be programmed using complex human actions such as pointing in Take this object. We discuss the use of the mobile robot for a feeding scenario where a human operator specifies the parts and the feeders through pointing gestures. The system is partially built using generic robotic skills. Through extensive experiments, we evaluate different aspects of the system.",

keywords = "feeding, gesture recognition, mobile robot, robot skills, teaching by demonstration",

author = "Pedersen, {Mikkel Rath} and Carsten H{\o}ilund and Volker Kr{\"u}ger",

year = "2012",

month = oct,

day = "23",

doi = "10.1109/ICMA.2012.6282849",

language = "English",

isbn = "9781467312776",

pages = "243--248",

booktitle = "2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012",

note = "2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 ; Conference date: 05-08-2012 Through 08-08-2012",

}

Pedersen, MR, Høilund, C & Krüger, V 2012, Using human gestures and generic skills to instruct a mobile robot arm in a feeder filling scenario. in 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012., 6282849, pp. 243-248, 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012, Chengdu, China, 2012/08/05. https://doi.org/10.1109/ICMA.2012.6282849

Using human gestures and generic skills to instruct a mobile robot arm in a feeder filling scenario. / Pedersen, Mikkel Rath; Høilund, Carsten; Krüger, Volker.
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012. 2012. p. 243-248 6282849.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - Using human gestures and generic skills to instruct a mobile robot arm in a feeder filling scenario

AU - Pedersen, Mikkel Rath

AU - Høilund, Carsten

AU - Krüger, Volker

PY - 2012/10/23

Y1 - 2012/10/23

N2 - Mobile robots that have the ability to cooperate with humans are able to provide new possibilities to manufacturing industries. In this paper, we discuss our mobile robot arm that can a) provide assistance at different locations in a factory and b) be programmed using complex human actions such as pointing in Take this object. We discuss the use of the mobile robot for a feeding scenario where a human operator specifies the parts and the feeders through pointing gestures. The system is partially built using generic robotic skills. Through extensive experiments, we evaluate different aspects of the system.

AB - Mobile robots that have the ability to cooperate with humans are able to provide new possibilities to manufacturing industries. In this paper, we discuss our mobile robot arm that can a) provide assistance at different locations in a factory and b) be programmed using complex human actions such as pointing in Take this object. We discuss the use of the mobile robot for a feeding scenario where a human operator specifies the parts and the feeders through pointing gestures. The system is partially built using generic robotic skills. Through extensive experiments, we evaluate different aspects of the system.

KW - feeding

KW - gesture recognition

KW - mobile robot

KW - robot skills

KW - teaching by demonstration

U2 - 10.1109/ICMA.2012.6282849

DO - 10.1109/ICMA.2012.6282849

M3 - Paper in conference proceeding

AN - SCOPUS:84867605126

SN - 9781467312776

SP - 243

EP - 248

BT - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012

T2 - 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

Y2 - 5 August 2012 through 8 August 2012

ER -

Using human gestures and generic skills to instruct a mobile robot arm in a feeder filling scenario

Abstract

Conference

Free keywords

Access to Document

Fingerprint

Cite this