Simultaneous kinesthetic teaching of positional and force requirements for sequential in-contact tasks

• This paper demonstrates a method for simulta-neous transfer of positional and force requirements for in-contact tasks from a human instructor to a robotic arm throughkinesthetic teaching. This is achieved by a specific use of thesensory configuration, where a force/torque sensor is mountedbetween the tool and the flange of a robotic arm endowedwith integrated torque sensors at each joint. The humandemonstration is modeled using Dynamic Movement Primitives.Following human demonstration, the robot arm is provided withthe capacity to perform sequential in-contact tasks, for examplewriting on a notepad a previously demonstrated sequence ofcharacters. During the reenactment of the task, the systemis not only able to imitate and generalize from demonstratedtrajectories, but also from their associated force profiles. In fact,the implemented framework is extended to successfully recoverfrom perturbations of the trajectory during reenactment andto cope with dynamic environments.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

Keyword

physical human-robot interaction

programming by demonstration

Interaction Lab (ILAB)

Interaction Lab (ILAB)

Publication and Content Type

ref (subject category)

kon (subject category)