Human-machine skill transfer extended by a scaffolding framework
Mayer, H.
Burschka, D.
Knoll, A.
Braun, E.U.
Lange, R.
Bauernschmitt, R.
Robot. & Embedded Syst., Tech. Univ. Munich, Munich;
This paper appears in: Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Publication Date: 19-23 May 2008
On page(s): 2866-2871
Location: Pasadena, CA,
ISSN: 1050-4729
ISBN: 978-1-4244-1646-2
INSPEC Accession Number: 10014596
Digital Object Identifier: 10.1109/ROBOT.2008.4543644
Current Version Published: 2008-06-13
Abstract
The term scaffolding, with respect to human education, was first coined in the 1970ies, although the basic concept originates back to the 1930ies. The main idea is to formalize the superior knowledge of a teacher in a certain way to generate support for a trainee. In practice, this concept can be implemented as concrete as a cloze, which assists pupils in learning a foreign language, or it might be as abstract as a social environment, which facilitates learning of specific tasks. This paper introduces a novel approach towards robotic learning by means of such a scaffolding framework. In this case, the scaffolding is constituted by abstract patterns, which facilitate the structuring and segmentation of information during "Learning by Demonstration". The methodology was applied to a real-world scenario of robot-assisted surgery.
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