Imitation Learning of Positional and Force Skills Demonstrated via Kinesthetic Teaching and Haptic Input

A method to learn and reproduce robot force interactions in a human-robot interaction setting is proposed. The method allows a robotic manipulator to learn to perform tasks that require exerting forces on external objects by interacting with a human operator in an unstructured environment. This is a...

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Vydané v:Advanced robotics Ročník 25; číslo 5; s. 581 - 603
Hlavní autori: Kormushev, Petar, Calinon, Sylvain, Caldwell, Darwin G.
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Taylor & Francis Group 01.01.2011
Predmet:
Devices
Education
HAPTICS
Human
IMITATION LEARNING
KINESTHETIC TEACHING
PHYSICAL HUMAN-ROBOT INTERACTION
PROGRAMMING BY DEMONSTRATION
Robots
Skills
Tasks
Teaching
ISSN:0169-1864, 1568-5535
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Shrnutí:A method to learn and reproduce robot force interactions in a human-robot interaction setting is proposed. The method allows a robotic manipulator to learn to perform tasks that require exerting forces on external objects by interacting with a human operator in an unstructured environment. This is achieved by learning two aspects of a task: positional and force profiles. The positional profile is obtained from task demonstrations via kinesthetic teaching. The force profile is obtained from additional demonstrations via a haptic device. A human teacher uses the haptic device to input the desired forces that the robot should exert on external objects during the task execution. The two profiles are encoded as a mixture of dynamical systems, which is used to reproduce the task satisfying both the positional and force profiles. An active control strategy based on task-space control with variable stiffness is then proposed to reproduce the skill. The method is demonstrated with two experiments in which the robot learns an ironing task and a door-opening task.
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 23
ISSN:0169-1864
1568-5535
DOI:10.1163/016918611X558261