Haptic and Visual Training of System Behavior – a case study for Robotic Programming-by-Demonstration

Thomas Hulin^*, Carsten Preusche^*, Eldad Yechiam^†, Ariel Telpaz^†, Volker Schmirgel^‡ and Uwe E. Zimmermann^‡

^(*) German Aerospace Center (DLR), Germany
^(†) Technion, Israel
^(‡) KUKA Laboratories GmbH, Germany
E-mail: Thomas.Hulin@dlr.de

Abstract

Programming-by-demonstration (PBD) is a new paradigm for programming industrial robots enabled by the development of the DLR/KUKA light-weight robot. Although the PBD approach facilitates and simplifies the generation of robot programs, the technician still needs to have skills and knowledge about the robotic system in order to produce efficient trajectories and to exploit the abilities of the robot in an optimal way. Within the EU-SKILLS project a robotic training system and protocol was developed to enable enactive learning of robotic skills and abilities. The paper presents the evaluation of the skill transfer for robotic PBD based on enactive learning.