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iRoPro - interactive Robot Programming tool

iRoPro is an interactive Robot Programming tool, currently developed for the Baxter robot. The goal of the system is to provide an easy way to program low- and high-level manipulation actions that can be used with a task planner to complete more complex tasks. It is based on Rapid PbD which is a programming by demonstration (PbD) system for the PR2, Fetch, and Baxter robots.

iRoPro overview

Program model

Users use the iRoPro interface to create actions and problems. A video of the working system can be seen here

Getting Started

See the wiki

Citation

@phdthesis{liang2019iropro,
  TITLE = {{End-user Robot Programming in Cobotic Environments}},
  AUTHOR = {Liang, Ying Siu},
  URL = {https://tel.archives-ouvertes.fr/tel-02275084},
  YEAR = {2019},
  MONTH = Jun,
  KEYWORDS = {End-User robot programming ; Programming by demonstration ; Automated planning ; Human-Robot interaction ; Cobotics ; Programmation par des non-Experts ; Programmation par d{\'e}monstration ; Planification ; Interaction homme-Robot ; Cobotique},
}