Task Automation in Construction Sites: Robot Learning from Teleoperated Demonstrations

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2024 7th Iberian Robotics Conference, ROBOT 2024
EditorsLino Marques, Manuel Ferre
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350376364
DOIs
Publication statusPublished - 2024
Event7th Iberian Robotics Conference, ROBOT 2024 - Madrid, Spain
Duration: 6 Nov 20248 Nov 2024

Publication series

Name2024 7th Iberian Robotics Conference, ROBOT 2024

Conference

Conference7th Iberian Robotics Conference, ROBOT 2024
Country/TerritorySpain
CityMadrid
Period6/11/248/11/24

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