Teaching Assembly by Demonstration using Advanced Human Robot Interaction and a Knowledge Integration Framework
Journal article, 2017

Conventional industrial robots are heavily dependent on hard automation that requires pre-specified fixtures and time-consuming (re)programming performed by experienced operators. In this work, teaching by human-only demonstration is used for reducing required time and expertise to setup a robotized assembly station. This is achieved by the proposed framework enhancing the robotic system with advanced perception and cognitive abilities, accessed through a user-friendly Human Robot Interaction interface. The approach is evaluated on a small parts’ assembly use case deployed onto a collaborative industrial robot testbed. Experiments indicate that the proposed approach allows inexperienced users to efficiently teach robots new assembly tasks.

Knowledge Integration

Robotic Assembly

Sequential Function Charts

Teaching by Demonstration


Matthias Haage

Lund University

Grigoris Piperagkas

Centre for Research and Technology Hellas (CERTH)

Christos Papadopoulos

Centre for Research and Technology Hellas (CERTH)

Ioannis Mariolis

Centre for Research and Technology Hellas (CERTH)

Jacek Malec

Lund University

Yasemin Bekiroglu


Mikael Hedelind


Dimitrios Tzovaras

Centre for Research and Technology Hellas (CERTH)

Procedia Manufacturing

2351-9789 (eISSN)

Vol. 11 164-173

Subject Categories

Interaction Technologies


Computer Science



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