TY - GEN
T1 - Semantic Mates
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
AU - Wildgrube, Fabian
AU - Perzylo, Alexander
AU - Rickert, Markus
AU - Knoll, Alois
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - In this paper, we enhance our knowledge-based and constraint-based approach of robot programming with the concept of Semantic Mates. They describe intended mechanical connections between parts of an assembly. This allows deriving appropriate assembly poses from the type of connection and the geometric properties of the involved parts. The paper presents an ontology-based representation of Semantic Mates that is used to augment object models with additional information regarding their potential use in an assembly. Such semantically annotated object models can be used in our instruction framework to program a robot to perform assembly tasks through simple drag-and-drop operations in a graphical user interface.We conducted a user study with 21 participants in order to evaluate the efficiency and usability of the Semantic Mates concept based on a use-case from the domain of mechanical assembly. Across different experience levels in robotics, the participants achieved a significantly faster workflow and improved perceived usability compared to the manual specification of constraint-based assembly operations.
AB - In this paper, we enhance our knowledge-based and constraint-based approach of robot programming with the concept of Semantic Mates. They describe intended mechanical connections between parts of an assembly. This allows deriving appropriate assembly poses from the type of connection and the geometric properties of the involved parts. The paper presents an ontology-based representation of Semantic Mates that is used to augment object models with additional information regarding their potential use in an assembly. Such semantically annotated object models can be used in our instruction framework to program a robot to perform assembly tasks through simple drag-and-drop operations in a graphical user interface.We conducted a user study with 21 participants in order to evaluate the efficiency and usability of the Semantic Mates concept based on a use-case from the domain of mechanical assembly. Across different experience levels in robotics, the participants achieved a significantly faster workflow and improved perceived usability compared to the manual specification of constraint-based assembly operations.
UR - http://www.scopus.com/inward/record.url?scp=85081156019&partnerID=8YFLogxK
U2 - 10.1109/IROS40897.2019.8968041
DO - 10.1109/IROS40897.2019.8968041
M3 - Conference contribution
AN - SCOPUS:85081156019
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6180
EP - 6187
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 3 November 2019 through 8 November 2019
ER -