Name
Title | ||
|---|---|---|
A passive robot controller aiding human coaching for kinematic behavior modifications |
Abstract | ||
|---|---|---|
•A controller for the kinesthetic modification of a kinematic behavior encoded by Dynamic Movement Primitives (DMP) is proposed.•The controller enables the human teacher to haptically ”inspect” the spatial properties of the learned behavior in SE(3).•The user can significantly modify segments of the behavior.•Experiments on teaching a variant of an emulated milling task with a KUKA LWR4+ manipulator are performed.•Results are compared with the case of using a gravity compensated robot agnostic of the previously learned task.•It is shown that the time duration of teaching and the user’s cognitive load are reduced. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1016/j.rcim.2019.101824 | Robotics and Computer-Integrated Manufacturing |
Keywords | DocType | Volume |
Kinesthetic teaching,Virtual fixtures,Phri,Learning by demonstration | Journal | 61 |
ISSN | Citations | PageRank |
0736-5845 | 1 | 0.40 |
References | Authors | |
0 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| D. Papageorgiou | 1 | 1 | 0.40 |
| Theodora Kastritsi | 2 | 1 | 2.09 |
| Zoe Doulgeri | 3 | 332 | 47.11 |