Simultaneous kinesthetic teaching of positional and force requirements for sequential in-contact tasks
2015 (English)In: Proceedings of the 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids), IEEE Computer Society, 2015, 202-209 p.Conference paper (Refereed)
This paper demonstrates a method for simulta-neous transfer of positional and force requirements for in-contact tasks from a human instructor to a robotic arm throughkinesthetic teaching. This is achieved by a specific use of thesensory configuration, where a force/torque sensor is mountedbetween the tool and the flange of a robotic arm endowedwith integrated torque sensors at each joint. The humandemonstration is modeled using Dynamic Movement Primitives.Following human demonstration, the robot arm is provided withthe capacity to perform sequential in-contact tasks, for examplewriting on a notepad a previously demonstrated sequence ofcharacters. During the reenactment of the task, the systemis not only able to imitate and generalize from demonstratedtrajectories, but also from their associated force profiles. In fact,the implemented framework is extended to successfully recoverfrom perturbations of the trajectory during reenactment andto cope with dynamic environments.
Place, publisher, year, edition, pages
IEEE Computer Society, 2015. 202-209 p.
physical human-robot interaction, programming by demonstration
IdentifiersURN: urn:nbn:se:his:diva-11671DOI: 10.1109/HUMANOIDS.2015.7363552ISI: 000377954900031ScopusID: 2-s2.0-84962296207ISBN: 978-1-4799-6885-5OAI: oai:DiVA.org:his-11671DiVA: diva2:868199
15th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, South Korea, November 3-5, 2015