Trajectories and Keyframes for Kinesthetic Teaching: A Human-Robot Interaction Perspective

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Akgun, Baris
Cakmak, Maya
Yoo, Jae Wook
Thomaz, Andrea L.
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http://hdl.handle.net/1853/44605
Abstract
Kinesthetic teaching is an approach to providing demonstrations to a robot in Learning from Demonstration whereby a human physically guides a robot to perform a skill. In the common usage of kinesthetic teaching, the robot's trajectory during a demonstration is recorded from start to end. In this paper we consider an alternative, keyframe demonstrations, in which the human provides a sparse set of consecutive keyframes that can be connected to perform the skill. We present a user-study (n = 34) comparing the two approaches and highlighting their complementary nature. The study also tests and shows the potential benefits of iterative and adaptive versions of keyframe demonstrations. Finally, we introduce a hybrid method that combines trajectories and keyframes in a single demonstration
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2012-03
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