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2011

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

8 years 25 days ago
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 which 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 which 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 ...
Petar Kormushev, Sylvain Calinon, Darwin G. Caldwe
Added 28 May 2011
Updated 28 May 2011
Type Journal
Year 2011
Where AR
Authors Petar Kormushev, Sylvain Calinon, Darwin G. Caldwell
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