Paper Info
Title
Adaptation and coaching of periodic motion primitives through physical and visual interaction
Abstract
In this paper we propose and evaluate a control system to (1) learn and (2) adapt robot motion for continuous non-rigid contact with the environment. We present the approach in the context of wiping surfaces with robots. Our approach is based on learning by demonstration. First an initial periodic motion, covering the essence of the wiping task, is transferred from a human to a robot. The system extracts and learns one period of motion. Once the user/demonstrator is content with the motion, the robot seeks and establishes contact with a given surface, maintaining a predefined force of contact through force feedback. The shape of the surface is encoded for the complete period of motion, but the robot can adapt to a different surface, perturbations or obstacles. The novelty stems from the fact that the feedforward component is learned and encoded in a dynamic movement primitive. By using the feedforward component, the feedback component is greatly reduced if not completely canceled. Finally, if the user is not satisfied with the periodic pattern, he/she can change parts of motion through predefined gestures or through physical contact in a manner of a tutor or a coach.
Year
DOI
Venue
2016
10.1016/j.robot.2015.09.011
Robotics and Autonomous Systems
Keywords
Field
DocType
Dynamic movement primitives,Force control,Coaching,Human–robot interaction
Computer vision,Simulation,Gesture,Computer science,Application domain,Artificial intelligence,Control system,Robot,Haptic technology,Human–robot interaction,Feed forward,Humanoid robot
Journal
Volume
Issue
ISSN
75
PB
0921-8890
Citations 
PageRank 
References 
14
0.66
39
Authors
7
Name
Order
Citations
PageRank
Andrej Gams138529.54
Tadej Petric217820.60
Martin Do31288.24
Bojan Nemec434530.28
Jun Morimoto529624.17
tamim asfour61889151.86
Ales Ude789885.11