Intuitive Robot Programming and Interaction Using RGB-D Perception and CNN-Based Objects Detection
[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee
2022
chapter in monograph / paper
english
- human-robot interface
- robot programming
- 3D perception
EN Robots programming requires knowledge about a specific robot programming language and control interfaces. Also, re-programming the robot to perform a slightly different task requires domain-specific knowledge. These requirements limit the application of robots in small-scale flexible production plants where the robot should be re-programmed frequently. This paper presents a human-robot interface for programming a robotic arm with an RGB-D camera for pick-and-place tasks using natural language. We propose a novel architecture of the system that utilizes voice recognition, pointer, and CNN-based object detection modules to intuitively program robot motions. The created system allows the operator to program motion trajectories or choose an object for grasping using a visual pointer and voice commands.
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