Name
Title | ||
|---|---|---|
A pHRI Framework for Modifying a Robot's Kinematic Behaviour via Varying Stiffness and Dynamical System Synchronization |
Abstract | ||
|---|---|---|
In this work, we propose a robot control framework for modifying a desired robot kinematic behavior encoded in dynamical movement primitives (DMP) by physically interacting with the robot during its autonomous operation. The proposed method is based on variable stiffness and DMP time synchronization with the user during the interaction. The overall controlled system is proved to be stable. After the user stops interacting with the robot, the robot motion continues according to the learned kinematic behavior until it reaches the final task goal. At the next execution cycle a new DMP can been learned to generate the modified trajectory. In this way, explicit robot programming and separation of learning and execution stages is eliminated. The proposed approach is implemented and evaluated on a 7-degree-of-freedom KUKA LWR4. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/MED.2018.8442577 | 2018 26th Mediterranean Conference on Control and Automation (MED) |
Keywords | Field | DocType |
pHRI framework,dynamical system synchronization,robot control framework,dynamical movement primitives,autonomous operation,variable stiffness,DMP time synchronization,controlled system,robot motion,modified trajectory,explicit robot programming,learning execution stages,robot kinematic behavior,7-degree-of-freedom KUKA LWR4 evaluation,physical human robot interaction | Robot control,Synchronization,Kinematics,Stiffness,Control theory,Computer science,Time synchronization,Control engineering,Robot,Trajectory,Dynamical system | Conference |
ISSN | ISBN | Citations |
2325-369X | 978-1-5386-7499-4 | 0 |
PageRank | References | Authors |
0.34 | 9 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Theodora Kastritsi | 1 | 1 | 2.09 |
| Antonis Sidiropoulos | 2 | 0 | 1.01 |
| Zoe Doulgeri | 3 | 332 | 47.11 |