TY - GEN
T1 - Task Automation in Construction Sites
T2 - 7th Iberian Robotics Conference, ROBOT 2024
AU - Rasines, Irati
AU - Prada, Miguel
AU - Dominguez, Alfonso
AU - Prada, Elisa
AU - Remazeilles, Anthony
AU - Axpe, Itziar Cabanes
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - Easy, reliable and fast learning from demonstration approaches are desirable for task automation in construction sites. Unlike in classic assembly industry where the robot acts in a well-controlled setting, construction sites are unstructured and constantly changing environments. Therefore both workers and robots have to easily adapt to new working scenarios. In this paper we propose a method for automating the joint filling with mastic using a single human demonstration. The demonstration is performed by a human via teleoperation. The learning phase aims at estimating the appropriate tuning parameters of the admittance controller used to reproduce the human motion. Early stage laboratory testings presented in this document demonstrate the validity of the proposed learning scheme.
AB - Easy, reliable and fast learning from demonstration approaches are desirable for task automation in construction sites. Unlike in classic assembly industry where the robot acts in a well-controlled setting, construction sites are unstructured and constantly changing environments. Therefore both workers and robots have to easily adapt to new working scenarios. In this paper we propose a method for automating the joint filling with mastic using a single human demonstration. The demonstration is performed by a human via teleoperation. The learning phase aims at estimating the appropriate tuning parameters of the admittance controller used to reproduce the human motion. Early stage laboratory testings presented in this document demonstrate the validity of the proposed learning scheme.
UR - http://www.scopus.com/inward/record.url?scp=85215994771&partnerID=8YFLogxK
U2 - 10.1109/ROBOT61475.2024.10796867
DO - 10.1109/ROBOT61475.2024.10796867
M3 - Conference contribution
AN - SCOPUS:85215994771
T3 - 2024 7th Iberian Robotics Conference, ROBOT 2024
BT - 2024 7th Iberian Robotics Conference, ROBOT 2024
A2 - Marques, Lino
A2 - Ferre, Manuel
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 6 November 2024 through 8 November 2024
ER -