Visible to the public LAP: A Human-in-the-loop Adaptation Approach for Industrial Robots

TitleLAP: A Human-in-the-loop Adaptation Approach for Industrial Robots
Publication TypeConference Paper
Year of Publication2016
AuthorsKo, Wilson K.H., Wu, Yan, Tee, Keng Peng
Conference NameProceedings of the Fourth International Conference on Human Agent Interaction
Conference LocationNew York, NY, USA
ISBN Number978-1-4503-4508-8
KeywordsAutomation, forward error correction, Forward Error Correction and Security, human-robot interaction, imitation learning, industrial robotics, industrial robots, intuitive teaching, pubcrawl, Resiliency, robot learning from demonstration, Scalability, security

In the last few years, a shift from mass production to mass customisation is observed in the industry. Easily reprogrammable robots that can perform a wide variety of tasks are desired to keep up with the trend of mass customisation while saving costs and development time. Learning by Demonstration (LfD) is an easy way to program the robots in an intuitive manner and provides a solution to this problem. In this work, we discuss and evaluate LAP, a three-stage LfD method that conforms to the criteria for the high-mix-low-volume (HMLV) industrial settings. The algorithm learns a trajectory in the task space after which small segments can be adapted on-the-fly by using a human-in-the-loop approach. The human operator acts as a high-level adaptation, correction and evaluation mechanism to guide the robot. This way, no sensors or complex feedback algorithms are needed to improve robot behaviour, so errors and inaccuracies induced by these subsystems are avoided. After the system performs at a satisfactory level after the adaptation, the operator will be removed from the loop. The robot will then proceed in a feed-forward fashion to optimise for speed. We demonstrate this method by simulating an industrial painting application. A KUKA LBR iiwa is taught how to draw an eight figure which is reshaped by the operator during adaptation.

Citation Keyko_lap:_2016