Action Discretization for Robot Arm Teleoperation in Open-Die Forging

Conference proceedings/Conference proceedings - IEEE International Conference on Systems, Man, and Cybernetics, pp. 2100–2105

Abstract

Action extraction from teleoperated robots can be a crucial step in the direction of full -or shared- autonomy of tasks where human experience is indispensable. This is especially important in tasks that seek dynamic goals, where a human operator needs more control on how the machine behaves to provide assistance or perform a task. Open-die forging is a basic metal-forming process that lacks non-destructive product quality measures. Human experience is therefore imperative. During the process, a robot-arm is operated to place the work-piece between the dies of the forge where it is striked several times to reach a specific geometry. In this paper, we apply a white-box computer vision technique to discretize open-die forging robot-arm teleoperation data into actions as a step in learning the operator's behavior.

Authors 5

1. Mohamed Behery Aachen Knowledge-Based Systems Group

   RWTH Aachen University

   Affiliation as printed

   Knowledge-Based Systems Group, RWTH Aachen University, Aachen, Germany

2. Matteo Tschesche Aachen

   RWTH Aachen University

   Affiliation as printed

   RWTH Aachen University, Aachen, Germany

3. Fridtjof Rudolph Aachen Institute of Metal Forming

   RWTH Aachen University

   Affiliation as printed

   Institute of Metal Forming, RWTH Aachen University, Aachen, Germany

4. Gerhard Hirt Aachen Institute of Metal Forming

   RWTH Aachen University

   Affiliation as printed

   Institute of Metal Forming, RWTH Aachen University, Aachen, Germany

5. Gerhard Lakemeyer Aachen Knowledge-Based Systems Group

   RWTH Aachen University

   Affiliation as printed

   Knowledge-Based Systems Group, RWTH Aachen University, Aachen, Germany