Programming by demonstration using fiducial markers

The programming by demonstration is a method that allows one to register a trajectory and to reproduce it by a robot. It could be used to speed up the programming of robots using the practical skills of workers without the time consuming code development part of classical robotic applications. This article exposes a methodology based on fiducial markers and only one classical camera which is an inexpensive solution. The fiducial markers are based on binary symbols generally used for augmented reality applications. It also presents the experimental setup created at the laboratory of human motion analysis and used to analyze the repeatability and the precision of this solution. The primary results show a promising technology and following developments will be done.