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### 机器人演示学习编程技术研究综述

1. 1. 江南大学 机械工程学院，江苏 无锡 214122
2. 江苏省食品先进制造装备技术重点实验室，江苏 无锡 214122
• 出版日期:2020-08-01 发布日期:2020-08-07

### Review of Research on Robot Programming by Learning from Demonstration

YIN Congcong, ZHANG Qiuju

1. 1. School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China
2. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi, Jiangsu 214122, China
• Online:2020-08-01 Published:2020-08-07

Abstract:

The traditional industrial robot programming method puts forward higher requirements for the programming level of employees, and the programming cycle is long, which is difficult to meet the production requirements of multiple varieties, small batch and short cycle. Therefore, the research on robot programming technology based on learning from demonstration (LfD) gradually emerges. Firstly, the development background of robot programming by demonstration technology is introduced, and the definition of robot programming by demonstration is given. Then, the learning from demonstration technology is divided into two categories according to the logical level of the information obtained by the robot: motion-based and task-based. Then, focusing on the research progress and achievements of robot programming by demonstration in recent years, the principles and characteristics of different kinds of programming by demonstration are analyzed, and the research status and existing problems of programming by demonstration are summarized. Finally, the challenges of programming by demonstration are discussed, and the intelligent, universal trend of learning from demonstration is pointed out. The analyses show that the present program-ming by demonstration still faces the challenges of stability, universality and ease of use, and it is of great signi-ficance to greatly reduce the programming difficulty of industrial robots, improve the programming efficiency of industrial robots, and improve the human-computer interaction experience of service robots.