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RobotProgrammingbyDemonstration

The programming of robot systems is a difficult, skilled and time consuming task. Thesimplificationoftheprogrammingmethodsanddevelopmentofalternativeprogrammingapproaches has been an area of research in last few decades. Robot Learning fromDemonstration (LfD)orRobot Programming by Demonstration (PbD)(also knownasImitation Learning) is a technique evolved to enable robots to autonomously performnewtasks.Unlikeconventionalwaysofprogramming,inthistechnique,LfD–PbDderivesan appropriate robot controller from observations of a human's own performance. Themain aim of LfD‐PbD is to make robot adaptive to novel situation without relying onprogramming skills of the user. The problems faced by LfD‐PbD are similar to real lifesituationswhenonehastoselectaschoolofthought.Thequestionslike,Whattoimitate?How to imitate? When to imitate? Whom to imitate? are of major concern. However,researchershavetriedtogiveanappropriateanswerto first twoquestionsbut latertwohave subjective solutions and hence solutions cannot be generalized. What to imitaterelates to the problem of determining which aspects of the demonstration should beimitated. In anotherwords, it’s a notion of affordance learning. To answer these issues,statisticalmethods,kinematicmodelsandconstraintsareusedtofilterouttheinformationnot necessary for robot programming and can be safely ignored. Hence, answer to firstquestion is a goal driven programming than simple point to point imitation. The vitalaspectindeterminingrelevantandirrelevantinformationisunderstandingthemetricusedfor evaluation of behaviour of robot. How to imitate comprises of determining how therobotwillactuallyexecute the learnedskill inorder tosuccessfullycomplete thedesiredtask.Usuallyduetodifferencesinthephysicalepitomeofthehumanandrobot,therobotcannotactinasamewayasthehumandoes.A fundamental problem is to create an appropriatemappingbetweenactionsof the twoembodimentstoachievethedesiredeffectbytheimitator.ThisissueiscloselyrelatedtotheCorrespondenceProblem. In literature,methods likesynergyapproach,configurationspace mapping, rule based methods like fuzzy logic, probabilistic methods like hiddenMarkovmodelwithGaussianmixturemodel,hiddensemiMarkovmodel,artificialneuralnetwork are being reported. Thesemethods ensure that the robot learns skills from thedemonstration and not just the task. The reliability of information gathered andtransmitted is highly dependent on the interface used to provide demonstrations. Thecommonlyusedinterfacesare

A)DirectlyrecordinghumanmotionsB)KinestheticteachingandC)Immersiveteleoperationscenarios.

Theinformationthusgatheredneedstobeencodedforrobotprogramming.Twotypesofapproachesareused:

a) a low‐levelrepresentationof theskill, takingthe formofanon‐linearmappingbetweensensoryandmotorinformation,and

From the Zonal Vice President (West)

b) ahigh‐levelrepresentationoftheskillthatdecomposestheskillinasequenceofaction‐perceptionunits.

With these methods available in practice, imitation learning for humanoids, industrialrobots, mobile robots and other hobby robots is successfully demonstrated by variousresearchers.However,withadventofthistechnology,newquestionsareposedeverynowand then. Generally, work in LfD‐PbD assumes a fixed robot control policy to learnappropriateparameters.Togeneralizetheusageoftechnique,itshouldbecapabletoselectthe most appropriate control policy like human. Furthermore, there are no protocolsreported to determine when it is best to switch between the various learning modesavailable.Theapproachesdevelopedtillnowconsiderthattheteachingisusuallydonebyasingleteacher,orteacherswiththeclearunderstandingofthetasktoteach.Moreworkneedtobedonetoanswerthequestionsrelatedtoconflictingdemonstrationsbydifferentteachers with different styles. Similarly, teachers are usually human beings, but couldinsteadbean arbitrary expert agent like an intelligent robot, computer simulationor ananimal.Fromcontinuouseffortsofresearchersworldwide,itisevidentthattheimprovisedLfDorPbDapproacheswillbedevelopedsoontoaccommodatefewoftheseissuestogiveanintuitive,robustandgeneralizedapproachtoteachrobots.

Dr.ShitalS.Chiddarwar

ZonalVicePresident(West)

The AMM headquarter is currently located at the Department of Engineering Design, IIT Madras. A new set of office bearers have taken charge of the affairs of AMM. AMM invites both individual and corporate membership from Indian academia, research organizations and industry. Membership benefits and other information about AMM are available at www.ammindia.org. The body of Zonal Vice Presidents (ZVPs) is active over the past several years with representations from the four corners of the country. They are playing the role of nodal agencies so as to decentralise the AMM official activities and to organise workshops under the aegis of AMM to popularise the mechanism science in their respective regions. They also form the editorial team of this news bulletin. AMM invites contributory articles from its members and others working in the various fields of mechanisms science for this quarterly news bulletin. Interested people can contact the editorial team.

Office Bearers of the AMM: Prof. C. Amarnath (President) Retired Professor, Department of Mechanical Engineering, Indian Institute of Technology, Bombay, Powai, Mumbai 400076, INDIA Phone: + 91 80 2368 2151 Email: president@ammindia.org

Prof. Ashitava Ghosal (Vice President) Department of Mechanical Engineering, Indian Institute of Science, Bangalore 560 012, INDIA. Phone: +91 80 2293 2956 Email: vicepresident@ammindia.org Web: http://www.mecheng.iisc.ernet.in/~asitava

Dr. G. Saravana Kumar (Secretary) Department of Engineering Design, Indian Institute of Technology, Madras, Chennai 600036, INDIA. Phone: + 91 (44) 2257 4736 Email: secretary@ammindia.org Web: http://ed.iitm.ac.in/~gsaravana

Dr. Palaniappan Ramu (Treasurer) Department of Engineering Design, Indian Institute of Technology, Madras, Chennai 600036, INDIA. Phone: + 91 (44) 2257 4738 Email: treasurer@ammindia.org Web: http://ed.iitm.ac.in/~palramu

About the Association of Machines and Mechanisms (AMM)

Dr. Santanu Das (Editor-in-Chief, News Bulletin)

Professor and Head, Department of Mechanical Engineering Kalyani Government Engineering College, Kalyani- 741235, West Bengal, INDIA

Phone: +91 9433956050

Email: sdas.me@gmail.com Dr. Shankar Sehgal, (Zonal Vice President [ZVP] North) Assistant Professor, Mechanical Engineering Department, Room No. 102, Block 2, U.I.E.T., Sector-25 Panjab University, Chandigarh- 160 014. INDIA Phone: +91 95010 24161 E-mail: shankarsehgal@yahoo.com Dr. R. Ranganath, (ZVP, South) Spacecraft Mechanisms Group, ISRO Satellite Centre, Bangalore-560017, INDIA Phone: +91 (80) 25082417 Email: rrrr@isac.gov.in

Dr. Ranjit Kumar Barai, (ZVP, East) Associate Professor, Control System Laboratory, Electrical Engineering Department, Jadavpur University, Kolkata- 700 032, INDIA Phone: +91 (33) 24139270 Email: ranjit.k.barai@gmail.com Dr. Shital S. Chiddarwar (ZVP, West) Assistant Professor, Dept of Mechanical Engineering Visvesvaraya National Institute of Technology, Nagpur, INDIA Phone: +91 9561050130 Email: shitalsc@mec.vnit.ac.in

Strive not to be a success, but rather to be of value.

--- Albert Einstein

Editorial Team of the News Bulletin

NOTICE Dear Members, The General Body Meeting of the society is convened as per schedule below on the sidelines of the iNaCoMM 2015 conference. Date: 17th December, 2015 Time: 6.00 PM Venue: IIT Kanpur, Kanpur- 560 012 Agenda: (Tentative) Welcome address by the President. Presentation of report by the Secretary. Presentation of statement of accounts by the Treasurer. Discussions / declarations on the next venue for iNaCoMM( December 2017) and IPRoMM

(December 2018). Expression of interest is invited from interested institutions to host the above events. iNaCoMM is held over three / four days. This includes a one day preconference workshop and rest of the days for conference proceeding including keynote talks, paper / poster presentation and student mechanism design contest. IPRoMM is held over two days. The event focuses on discussions and paper presentation in the domain of industrial problems on machines and mechanism. Prospective host can visit AMM website to know more about the events (past event archives, reports etc.) and then send letter of expression of interest duly signed by head of the institution to the Secretary, AMM by email / post so as to reach before 10th December 2015.

Based on the response there will be discussion and declaration of the host. Conducting events like workshops, short term courses, Mechanism Olympiad etc. under the

aegis of AMM. Promotion of SMDC and other student activities. Office bearers and their tenure. Any other matter with the permission of the Chair. Kindly make it convenient to attend the meeting. Best regards, G Saravana Kumar Secretary, AMM

Notice of the General Body Meeting of AMM

7

About the International Federation for the Promotion of Mechanism and Machine Science (IFToMM)

8

Bodies of IFToMM General Assembly The General Assembly is the supreme body of the Federation and determines its policy. It is composed of the Chief Delegates of IFToMM Members and members of the Executive Council. Executive Council The Executive Council manages the affairs of the Federation between the sessions of the General Assembly. It is elected every four years, meets annually, and is composed of the President, Vice- President, Secretary-General, Treasurer, and six ordinary members. Commissions and Committees Each Permanent Commission and Technical Committee is composed of a Chairperson, appointed by the Executive Council, a Secretary and members, nominated by the Chairperson and appointed by the Executive Council. A Chairperson shall not serve for more than two terms consecutively. The general goals for the work of the Commissions and Committees are aimed at promoting their fields of interest by attracting researchers and practitioners, including young individuals, in order to: - define new directions in research and development within their technical areas; - establish contacts between researchers and engineers; - initiate and develop bases and procedures for modern problems; - promote the exchange of information; - organize national and international symposia,

conferences, summer schools, and meetings. Member Organizations ARMENIA AUSTRALIA AUSTRIA AZERBAIJAN BELARUS BRAZIL BULGARIA CANADA CHINA-BEIJING CHINA-TAIPEI CROATIA CZECH REPUBLIC DENMARK EGYPT FINLAND FRANCE GEORGIA GERMANY GREECE HUNGARY INDIA ISRAEL ITALY JAPAN KAZAKHSTAN KOREA LITHUANIA MACEDONIA MEXICO NETHERLANDS PERU POLAND PORTUGAL ROMANIA RUSSIA SERBIA SINGAPORE SLOVAKIA SLOVENIA SPAIN SWITZERLAND TUNISIA TURKEY UKRAINE UNITED KINGDOM USA VIETNAM  Welcome to Taipei, China-Taipei, venue of the 14th IFToMM World Congress, 25-30 October, 2015,

www.iftomm2015.tw  IFToMM supported Conferences (selection) Int. Symposium on History of Machines and Mechanisms (HMM) Workshop on Computational Kinematics (CK) Rotordynamics Conference CISM-IFToMM Symposium on Robot

Design, Dynamics, and Control (ROMANSY) Mechanical Transmission Applications (MeTrApp) Symposium on Robotics & Mechatronics (ISRM) European Conf on Mechanism Science (EUCOMES) Asian Conference on MMS (ASIAN MMS) Summer Schools Conferences under IFToMM patronage (selection) Local conferences of the IFToMM Members Symposium on Theory and Practice of Robot and Manipulators (SYROM) IFToMM-FeIbIM Int. Symposium on Multibody Systems and Mechatronics (MUSME) Joining IFToMM Member Organizations gives the following benefits: international contacts for potential developments of joint projects; reduced registration fees for IFToMM supported conferences; participation and contribution in IFToMM activities and publications; flow of information on IFToMM activities. You are kindly invited to join IFToMM and its activities.

 

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