Name
Abstract | ||
|---|---|---|
Kinesthetic teaching allows the direct skill transfer from the human to the robot through physical human-robot interaction. However, it is heavily affected by the robot's dynamics and the control scheme utilized for the physical interaction. In this work, we aim at assisting the human-teacher by reducing her/his physical and cognitive load. To this aim, we propose a controller with virtual fixtures and inertia optimization for assisting kinesthetic teaching, exploiting knowledge of the task geometry and the robot redundancy. Experimental results utilizing a KUKA LWR4+ robot for the teaching of a brush painting motion on a curved surface validate the method and demonstrate its performance in comparison with a gravity compensation scheme and the utilization of virtual fixtures alone. The system is proved to be passive under the exertion of a human force. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/IROS51168.2021.9636209 | 2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
DocType | ISSN | Citations |
Conference | 2153-0858 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dimitrios G. Papageorgiou | 1 | 31 | 6.93 |
| Sotiris Stavridis | 2 | 3 | 1.42 |
| Christos Papakonstantinou | 3 | 0 | 0.34 |
| Zoe Doulgeri | 4 | 332 | 47.11 |