Teaching Assembly by Demonstration using Advanced Human Robot Interaction and a Knowledge Integration Framework
Artikel i vetenskaplig tidskrift, 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

Lunds universitet

Grigoris Piperagkas

Ethniko Kentro Erevnas Kai Technologikis Anaptyxis (EKETA)

Christos Papadopoulos

Ethniko Kentro Erevnas Kai Technologikis Anaptyxis (EKETA)

Ioannis Mariolis

Ethniko Kentro Erevnas Kai Technologikis Anaptyxis (EKETA)

Jacek Malec

Lunds universitet

Yasemin Bekiroglu


Mikael Hedelind


Dimitrios Tzovaras

Ethniko Kentro Erevnas Kai Technologikis Anaptyxis (EKETA)

Procedia Manufacturing

2351-9789 (eISSN)

Vol. 11 164-173



Robotteknik och automation

Datavetenskap (datalogi)



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