Title:
An Evaluation of GUI and Kinesthetic Teaching Methods for Constrained-Keyframe Skills

dc.contributor.author Kurenkov, Andrey
dc.contributor.committeeMember Thomaz, Andrea
dc.contributor.committeeMember Isbell, Charles
dc.contributor.department Computer Science
dc.date.accessioned 2015-08-18T19:15:09Z
dc.date.available 2015-08-18T19:15:09Z
dc.date.created 2015-05
dc.date.issued 2015-08-18
dc.date.submitted May 2015
dc.date.updated 2015-08-18T19:15:09Z
dc.description.abstract Keyframe-based Learning from Demonstration has been shown to be an effective method for allowing end-users to teach robots skills. I propose a method for using multiple keyframe demonstrations to learn skills as sequences of positional constraints (c-keyframes) which can be planned between for skill execution. I also introduce an interactive GUI which can be used for displaying the learned c-keyframes to the teacher, for altering aspects of the skill after it has been taught, or for specifying a skill directly without providing kinesthetic demonstrations. I compare 3 methods of teaching c-keyframe skills: kinesthetic teaching, GUI teaching, and kinesthetic teaching followed by GUI editing of the learned skill (K-GUI teaching). Based on user evaluation, the K-GUI method of teaching is found to be the most preferred, and the GUI to be the least preferred. Kinesthetic teaching is also shown to result in more robust constraints than GUI teaching, and several use cases of K-GUI teaching are discussed to show how the GUI can be used to improve the results of kinesthetic teaching. The results indicate the benefit of K-GUI teaching over kinesthetic teaching, and suggest that more robust constraints may be needed to more flexibily represent skills and allow for a more intuitive GUI.
dc.description.degree Undergraduate
dc.format.mimetype application/pdf
dc.identifier.uri http://hdl.handle.net/1853/53748
dc.language.iso en_US
dc.publisher Georgia Institute of Technology
dc.subject Robotics
dc.subject LFD
dc.subject Learning
dc.subject Demonstrations
dc.subject Constraints
dc.subject Planning
dc.subject HCI
dc.title An Evaluation of GUI and Kinesthetic Teaching Methods for Constrained-Keyframe Skills
dc.type Text
dc.type.genre Undergraduate Thesis
dspace.entity.type Publication
local.contributor.corporatename College of Computing
local.contributor.corporatename School of Computer Science
local.contributor.corporatename Undergraduate Research Opportunities Program
local.relation.ispartofseries Undergraduate Research Option Theses
relation.isOrgUnitOfPublication c8892b3c-8db6-4b7b-a33a-1b67f7db2021
relation.isOrgUnitOfPublication 6b42174a-e0e1-40e3-a581-47bed0470a1e
relation.isOrgUnitOfPublication 0db885f5-939b-4de1-807b-f2ec73714200
relation.isSeriesOfPublication e1a827bd-cf25-4b83-ba24-70848b7036ac
thesis.degree.level Undergraduate
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