A multi-agent system for programming robots by human demonstration

Article type: Research Article

Authors: Voyles, Richard M.^{a; *} | Khosla, Pradeep K.^b

Affiliations: [a] Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN 55455, USA. E-mail: [email protected] | [b] Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA. E-mail: [email protected]

Correspondence: [*] Corresponding author.

Abstract: This paper explores Gesture-Based Programming as a paradigm for programming robotic agents. Gesture-Based Programming is a form of programming by human demonstration that focuses the development of robotic systems on task experts rather than programming experts. The technique relies on the existence of previously acquired robotic skills (called “sensorimotor primitives”) which are intended to be the robotic equivalent of that which humans acquire through everyday physical interactions. The interpretation of the human's demonstration and subsequent matching to robotic primitives is a qualitative problem that we approach with a community of skilled agents. A simple manipulative task is programmed to demonstrate the system.

DOI: 10.3233/ICA-2001-8105

Journal: Integrated Computer-Aided Engineering, vol. 8, no. 1, pp. 59-67, 2001