Human-robot skill transfer has been deeply investigated from a kinematic point of view, generating various approaches to increase the robot knowledge in a simple and compact way. Nevertheless, social robotics applications require a close and active interaction with humans in a safe and natural manner. Torque controlled robots, with their variable impedance capabilities, seem a viable option toward a safe and profitable human-robot interaction. In this paper, an approach is proposed to simultaneously learn motion and impedance behaviors from tasks demonstrations. Kinematic aspects of the task are represented in a statistical way, while the variability along the demonstrations is used to define a variable impedance behavior. The effectiveness of our approach is validated with simulations on real and synthetic data.

Learning motion and impedance behaviors from human demonstrations / Saveriano, M.; Lee, D.. - (2014), pp. 368-373. (Intervento presentato al convegno 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 tenutosi a Double Tree Hotel by Hilton, mys nel 2014) [10.1109/URAI.2014.7057371].

Learning motion and impedance behaviors from human demonstrations

Saveriano M.;
2014-01-01

Abstract

Human-robot skill transfer has been deeply investigated from a kinematic point of view, generating various approaches to increase the robot knowledge in a simple and compact way. Nevertheless, social robotics applications require a close and active interaction with humans in a safe and natural manner. Torque controlled robots, with their variable impedance capabilities, seem a viable option toward a safe and profitable human-robot interaction. In this paper, an approach is proposed to simultaneously learn motion and impedance behaviors from tasks demonstrations. Kinematic aspects of the task are represented in a statistical way, while the variability along the demonstrations is used to define a variable impedance behavior. The effectiveness of our approach is validated with simulations on real and synthetic data.
2014
2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
Piscataway, New Jersey, USA
Institute of Electrical and Electronics Engineers Inc.
978-1-4799-5333-2
Saveriano, M.; Lee, D.
Learning motion and impedance behaviors from human demonstrations / Saveriano, M.; Lee, D.. - (2014), pp. 368-373. (Intervento presentato al convegno 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 tenutosi a Double Tree Hotel by Hilton, mys nel 2014) [10.1109/URAI.2014.7057371].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/331045
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