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Human Robot Interaction Solutions for Intuitive Industrial Robot Programming
Mälardalen University, School of Innovation, Design and Engineering. (ISS)
2012 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

Over the past few decades the use of industrial robots has increased the efficiency as well as competitiveness of many companies. Despite this fact, in many cases, robot automation investments are considered to be technically challenging. In addition, for most small and medium sized enterprises (SME) this process is associated with high costs. Due to their continuously changing product lines, reprogramming costs are likely to exceed installation costs by a large margin. Furthermore, traditional programming methods for industrial robots are too complex for an inexperienced robot programmer, thus assistance from a robot programming expert is often needed.  We hypothesize that in order to make industrial robots more common within the SME sector, the robots should be reprogrammable by technicians or manufacturing engineers rather than robot programming experts. In this thesis we propose a high-level natural language framework for interacting with industrial robots through an instructional programming environment for the user.  The ultimate goal of this thesis is to bring robot programming to a stage where it is as easy as working together with a colleague.In this thesis we mainly address two issues. The first issue is to make interaction with a robot easier and more natural through a multimodal framework. The proposed language architecture makes it possible to manipulate, pick or place objects in a scene through high level commands. Interaction with simple voice commands and gestures enables the manufacturing engineer to focus on the task itself, rather than programming issues of the robot. This approach shifts the focus of industrial robot programming from the coordinate based programming paradigm, which currently dominates the field, to an object based programming scheme.The second issue addressed is a general framework for implementing multimodal interfaces. There have been numerous efforts to implement multimodal interfaces for computers and robots, but there is no general standard framework for developing them. The general framework proposed in this thesis is designed to perform natural language understanding, multimodal integration and semantic analysis with an incremental pipeline and includes a novel multimodal grammar language, which is used for multimodal presentation and semantic meaning generation.

Place, publisher, year, edition, pages
Västerås: Mälardalen University , 2012. , 94 p.
Series
Mälardalen University Press Licentiate Theses, ISSN 1651-9256 ; 149
Keyword [en]
huamn robot interaction, industrial robots, intuitive programming
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:mdh:diva-14315ISBN: 978-91-7485-060-4 (print)OAI: oai:DiVA.org:mdh-14315DiVA: diva2:507974
Presentation
2012-03-28, Lambda, Högskoleplan 1, Rosenhil, Västerås, 13:15 (English)
Opponent
Supervisors
Projects
robot colleague project
Available from: 2012-03-07 Created: 2012-03-07 Last updated: 2015-01-14Bibliographically approved
List of papers
1. Interacting with industrial robots through a multi-modal language and sensory systems
Open this publication in new window or tab >>Interacting with industrial robots through a multi-modal language and sensory systems
2008 (English)In: 39th International Sysmposium on Robotics, Seoul, Korea, 2008, 66-69 p.Conference paper, Published paper (Refereed)
Abstract [en]

Over the past few decades the use of industrial robots has increased a company's efficiency as well as strengthening their competitiveness in the market.

Despite this fact, in many cases, robot automation investments are considered to be technically challenging as well as costly by small and medium sized enterprises (SME). We hypothesize that in order to make industrial robots more common within the SME sector, the robots should be reprogrammable by task experts rather than robot programming experts. Within this project we propose to develop a high level language for intelligent human robot interaction that relies on multi-sensor inputs providing an abstract instructional programming environment for the user. Eventually to bring robot programming to stage where it is as easy as working together with a colleague

National Category
Engineering and Technology
Identifiers
urn:nbn:se:mdh:diva-7276 (URN)
Conference
39th International Symposium on Robotics, ISR 2008; Seoul; South Korea; 15 October 2008 through 17 October 2008
Available from: 2009-09-25 Created: 2009-09-25 Last updated: 2013-12-19Bibliographically approved
2. Object selection using a spatial language for flexible assembly
Open this publication in new window or tab >>Object selection using a spatial language for flexible assembly
2009 (English)Conference paper, Published paper (Refereed)
Identifiers
urn:nbn:se:mdh:diva-13294 (URN)
Conference
Swedish Workshop on Autonomous Robots (SWAR)
Available from: 2011-11-17 Created: 2011-11-17 Last updated: 2014-11-06Bibliographically approved
3. A General Framework for Incremental Processing of Multimodal Inputs
Open this publication in new window or tab >>A General Framework for Incremental Processing of Multimodal Inputs
2011 (English)In: Proceedings of the 13th international conference on multimodal interfaces, New York: ACM Press, 2011, 225-228 p.Conference paper, Published paper (Refereed)
Abstract [en]

Humans employ different information channels (modalities) such as speech, pictures and gestures in their commu- nication. It is believed that some of these modalities are more error-prone to some specific type of data and therefore multimodality can help to reduce ambiguities in the interaction. There have been numerous efforts in implementing multimodal interfaces for computers and robots. Yet, there is no general standard framework for developing them. In this paper we propose a general framework for implementing multimodal interfaces. It is designed to perform natural language understanding, multi- modal integration and semantic analysis with an incremental pipeline and includes a multimodal grammar language, which is used for multimodal presentation and semantic meaning generation.

Place, publisher, year, edition, pages
New York: ACM Press, 2011
National Category
Computer and Information Science
Identifiers
urn:nbn:se:mdh:diva-13586 (URN)10.1145/2070481.2070521 (DOI)2-s2.0-83455176699 (Scopus ID)978-1-4503-0641-6 (ISBN)
Conference
International Conference on Multimodal Interaction - ICMI 2011
Available from: 2011-12-15 Created: 2011-12-15 Last updated: 2017-09-27Bibliographically approved
4. Intuitive Industrial Robot Programming Through Incremental Multimodal Language and Augmented Reality
Open this publication in new window or tab >>Intuitive Industrial Robot Programming Through Incremental Multimodal Language and Augmented Reality
2011 (English)In: 2011 IEEE International Conferance on Robotics and Automation (ICRA 2011), IEEE , 2011, 3934-3939 p.Conference paper, Published paper (Refereed)
Abstract [en]

Developing easy to use, intuitive interfaces is crucial to introduce robotic automation to many small medium sized enterprises (SMEs). Due to their continuously changing product lines, reprogramming costs exceed installation costs by a large margin. In addition, traditional programming methods for industrial robots is too complex for an inexperienced robot programmer, thus external assistance is often needed. In this paper a new incremental multimodal language, which uses augmented reality (AR) environment, is presented. The proposed language architecture makes it possible to manipulate, pick or place the objects in the scene. This approach shifts the focus of industrial robot programming from coordinate based programming paradigm, to object based programming scheme. This makes it possible for non-experts to program the robot in an intuitive way, without going through rigorous training in robot programming.

Place, publisher, year, edition, pages
IEEE, 2011
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:mdh:diva-13588 (URN)10.1109/ICRA.2011.5979887 (DOI)2-s2.0-84871705923 (Scopus ID)978-1-61284-386-5 (ISBN)
Conference
2011 IEEE International Conferance on Robotics and Automation (ICRA 2011)
Available from: 2011-12-15 Created: 2011-12-15 Last updated: 2016-05-17Bibliographically approved

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