Trajectories and keyframes for kinesthetic teaching: a human-robot interaction perspective

Authors:
Baris Akgun;Maya Cakmak;Jae Wook Yoo;Andrea Lockerd Thomaz
Affiliations:
Georgia Institute of Technology, Atlanta, GA, USA;Georgia Institute of Technology, Atlanta, GA, USA;Texas A&M University, College Station, TX, USA;Georgia Institute of Technology, Atlanta, GA, USA
Venue:
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
Year:
2012

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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.