Teaching Robots to Perform Construction Tasks via Learning from Demonstration

2019 ◽  
Author(s):  
Ci-Jyun Liang ◽  
Vineet Kamat ◽  
Carol Menassa
Keyword(s):  
Learning From Demonstration ◽  
Construction Tasks

scholarly journals Imitation learning-based framework for learning 6-D linear compliant motions

2021 ◽  
Author(s):  
Markku Suomalainen ◽  
Fares J. Abu-dakka ◽  
Ville Kyrki
Keyword(s):  
Contact Force ◽  
Free Space ◽  
Prior Information ◽  
Goal Area ◽  
Imitation Learning ◽  
Learning From Demonstration ◽  
End Effector ◽  
Localization Accuracy ◽  
Novel Method ◽  
Contact Tasks

AbstractWe present a novel method for learning from demonstration 6-D tasks that can be modeled as a sequence of linear motions and compliances. The focus of this paper is the learning of a single linear primitive, many of which can be sequenced to perform more complex tasks. The presented method learns from demonstrations how to take advantage of mechanical gradients in in-contact tasks, such as assembly, both for translations and rotations, without any prior information. The method assumes there exists a desired linear direction in 6-D which, if followed by the manipulator, leads the robot’s end-effector to the goal area shown in the demonstration, either in free space or by leveraging contact through compliance. First, demonstrations are gathered where the teacher explicitly shows the robot how the mechanical gradients can be used as guidance towards the goal. From the demonstrations, a set of directions is computed which would result in the observed motion at each timestep during a demonstration of a single primitive. By observing which direction is included in all these sets, we find a single desired direction which can reproduce the demonstrated motion. Finding the number of compliant axes and their directions in both rotation and translation is based on the assumption that in the presence of a desired direction of motion, all other observed motion is caused by the contact force of the environment, signalling the need for compliance. We evaluate the method on a KUKA LWR4+ robot with test setups imitating typical tasks where a human would use compliance to cope with positional uncertainty. Results show that the method can successfully learn and reproduce compliant motions by taking advantage of the geometry of the task, therefore reducing the need for localization accuracy.

Bauen nach dem Bauhaus

Architectura ◽  
2018 ◽  
Vol 48 (1-2) ◽  
pp. 154-183
Author(s):  
Andreas Schwarting
Keyword(s):  
Second World War ◽  
West Germany ◽  
Individual Level ◽  
Industrial Architecture ◽  
Construction Tasks ◽  
The 1950S ◽  
Post War ◽  
Mies Van Der Rohe ◽  
Contemporary Architecture ◽  
Second World

Abstract Hermann Blomeier is one of around 80 graduates from the Bau- und Ausbauabteilung, a comparatively small group among the more than 1200 students at the Bauhaus who have only recently come under the spotlight of research. The biographies of several graduates are known, such as Franz Ehrlich, Erich Consemüller, Howard Dearstyne, Selman Selmanagić, Herbert Hirche or Arieh Sharon; many more are lost, however. Although the Bauhaus was not a ›school‹ in the sense of a unified design approach and a binding canon of forms, it is instructive on an individual level to study the work of Blomeier, one of the Bauhaus graduates and students of Ludwig Mies van der Rohe who has so far received little attention. On the basis of three projects from the 1950s, the viability of the design approaches conveyed at the Bauhaus for the construction tasks of the post-war period are examined. First, the ferry ports connecting Konstanz and Meersburg will be considered as the first major project by Blomeier after the Second World War. The buildings for the Bodensee-Wasserversorgung – at times the largest construction site in West Germany of the 1950s – represent an outstanding example of industrial architecture and technical infrastructure in their fusion of art, technology and landscape. The smallest of the three projects, the building for the rowing club Neptun, located directly opposite the old town of Konstanz on the Seerhein, points with its innovative modular primary structure well beyond contemporary architecture and anticipates developments of the late 1960s, such as the Japanese Metabolists or the Plug-In-City of Archigram.

scholarly journals Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration

2020 ◽  
Author(s):  
Ji Woong Kim ◽  
Changyan He ◽  
Muller Urias ◽  
Peter Gehlbach ◽  
Gregory D. Hager ◽  
...  
Keyword(s):  
Learning From Demonstration ◽  
Surgical Tool

The Plan Guidelines for Villages under the Background of Nomadic Settlement — A Case Study of Luqu County in Gannan Tibetan Autonomous Prefecture

2012 ◽  
Vol 518-523 ◽  
pp. 5886-5893
Author(s):  
Lu Cang Wang ◽  
Wei Li ◽  
Jing Gao
Keyword(s):  
Economic Development ◽  
Yellow River ◽  
Functional Area ◽  
Spatial Displacement ◽  
Community Based ◽  
Construction Tasks ◽  
The Village ◽  
Pastoral Farming ◽  
Better Than

“The Project of Nomadic Settlement” is one of the major construction tasks for “Gannan Important Water Supply Ecological Functional Area of Yellow River”. Because of the distribution of population and settlements have obvious discreteness and wavering in alpine pasture, it is necessary to plan and guide agricultural and grazing villages during the process of the construction of nomadic settlements, spatial displacement and integration of population and settlement. The nomadic habitation mode in Luqu county undergoes four stages. At present, it adopts four settlement modes, that is, centralized settlement mode in the county town, settlement mode in the village, settlement along the highway mode and dispersed settlement mode, involving a total of 2,645households,13,783people and be arranged in 21 settlements. The paper adopts 14 indicators related conditions of economic development, social development conditions, geographic conditions, measures the overall strength of 24 administrative villages in Luqu, the whole villages are divided into four grade. The results show that the suburban villages are better than the surrounding villages and towns, pure pastoral farming are better than farming-pastoral villages. Accordingly, 24 villages are divided into four types—community-based villages, developing villages, controlling villages, and revoking-merging villages. Finally, it also proposes the path on village plan guidelines.

Using visualization to aid program construction tasks

2002 ◽  
Vol 34 (1) ◽  
pp. 191-195 ◽  
Author(s):  
Carlisle E. George
Keyword(s):  
Construction Tasks ◽  
Program Construction

Learning from demonstration using improved dynamic movement primitives

2021 ◽  
Author(s):  
Tiantian Wang ◽  
Liang Yan ◽  
Gang Wang ◽  
Xiaoshan Gao ◽  
Nannan Du ◽  
...  
Keyword(s):  
Learning From Demonstration ◽  
Movement Primitives ◽  
Dynamic Movement ◽  
Dynamic Movement Primitives

Design for Project Change Management: Part 2 — Attribute Design

2004 ◽  
Author(s):  
D. Xue ◽  
S. Y. Cheing ◽  
P. Gu
Keyword(s):  
Optimal Design ◽  
Probability Distribution ◽  
Taguchi Method ◽  
Systematic Approach ◽  
Distribution Functions ◽  
Probability Distribution Functions ◽  
Construction Tasks ◽  
Design Attribute ◽  
Value Changes ◽  
Design Aspect

This research introduces a new systematic approach to identify the optimal design configuration and attributes to minimize the potential construction project changes. The second part of this paper focuses on the attribute design aspect. In this research, the potential changes of design attribute values are modeled by probability distribution functions. Attribute values of the design whose construction tasks are least sensitive to the changes of these attribute values are identified based upon Taguchi Method. In addition, estimation of the potential project change cost due to the potential design attribute value changes is also discussed. Case studies in pipeline engineering design and construction have been conducted to show the effectiveness of the introduced approach.

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