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Advanced Bimanual Manipulation pp 1–57Cite as

Layered Programming by Demonstration and Planning for Autonomous Robot Manipulation

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 80))

Abstract

We propose a layered system for autonomous planning of complex service robot environment manipulation challenges. Motion planning, logic-based planning and probabilistic mission planning are integrated into a single system and planning models are generated using Programming by [human] Demonstration (PbD). The strength of planning models arises from the flexibility they give the robot in dealing with changing scenes and highly varying sequences of events. This comes at the cost of complex planning model representations and generation, however. Manually engineering very general descriptions covering a large sets of challenges is infeasible as is learning them exclusively by robot self-exploration. Thus, we present PbD for planning models together with generation of parameters from analysis of geometric scene properties to tackle that difficulty. Experimental results show the applicability of these techniques on natural learning and autonomous execution of complex robot manipulation challenges.

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Authors and Affiliations

  1. Humanoids and Intelligence Systems Lab, Institut für Anthropomatik, Karlsruher Institut für Technologie, Adenauerring 4, 76131, Karlsruhe, Germany

    Rainer Jäkel, Sven R. Schmidt-Rohr, Martin Lösch & Rüdiger Dillmann

  2. FZI Forschungszentrum Informatik, Haid-und-Neu-Strasse 10-14, 76131, Karlsruhe, Germany

    Steffen W. Rühl & Zhixing Xue

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  1. Rainer Jäkel
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  2. Steffen W. Rühl
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  3. Sven R. Schmidt-Rohr
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  4. Martin Lösch
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  5. Zhixing Xue
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  6. Rüdiger Dillmann
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Correspondence to Rainer Jäkel .

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  1. Dipto. Informatica e, Sistemistica, Università di Napoli Federico II, Via Claudio 21, Napoli, 80125, Italy

    Bruno Siciliano

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Jäkel, R., Rühl, S.W., Schmidt-Rohr, S.R., Lösch, M., Xue, Z., Dillmann, R. (2012). Layered Programming by Demonstration and Planning for Autonomous Robot Manipulation. In: Siciliano, B. (eds) Advanced Bimanual Manipulation. Springer Tracts in Advanced Robotics, vol 80. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-29041-1_1

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