Högskolan i Skövde

his.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • apa-cv
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Simultaneous kinesthetic teaching of positional and force requirements for sequential in-contact tasks
German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen-Weßling, Germany.
University of Skövde, School of Informatics. University of Skövde, The Informatics Research Centre. (Interaction Lab)ORCID iD: 0000-0002-8400-5153
Department of Electrical Engineering and Automation, Aalto Univeristy, Aalto, Finland.
2015 (English)In: Proceedings of the 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids), IEEE Computer Society, 2015, p. 202-209Conference paper, Published paper (Refereed)
Abstract [en]

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. p. 202-209
Keywords [en]
physical human-robot interaction, programming by demonstration
National Category
Robotics
Research subject
Interaction Lab (ILAB)
Identifiers
URN: urn:nbn:se:his:diva-11671DOI: 10.1109/HUMANOIDS.2015.7363552ISI: 000377954900031Scopus ID: 2-s2.0-84962296207ISBN: 978-1-4799-6885-5 (electronic)ISBN: 978-1-4799-6884-8 (electronic)OAI: oai:DiVA.org:his-11671DiVA, id: diva2:868199
Conference
15th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, South Korea, November 3-5, 2015
Available from: 2015-11-09 Created: 2015-11-09 Last updated: 2023-01-04Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records

Montebelli, Alberto

Search in DiVA

By author/editor
Montebelli, Alberto
By organisation
School of InformaticsThe Informatics Research Centre
Robotics

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 903 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • apa-cv
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf