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Simultaneous kinest...
Simultaneous kinesthetic teaching of positional and force requirements for sequential in-contact tasks
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- Steinmetz, Franz (författare)
- German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen-Weßling, Germany
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- Montebelli, Alberto (författare)
- Högskolan i Skövde,Institutionen för informationsteknologi,Forskningscentrum för Informationsteknologi,Interaction Lab
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- Kyrki, Ville (författare)
- Department of Electrical Engineering and Automation, Aalto Univeristy, Aalto, Finland
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(creator_code:org_t)
- IEEE Computer Society, 2015
- 2015
- Engelska.
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Ingår i: Proceedings of the 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids). - : IEEE Computer Society. - 9781479968855 - 9781479968848 ; , s. 202-209
- Relaterad länk:
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https://urn.kb.se/re...
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visa fler...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- 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.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Nyckelord
- physical human-robot interaction
- programming by demonstration
- Interaction Lab (ILAB)
- Interaction Lab (ILAB)
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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