Abstract
Kinesthetic teaching is an established method of teaching robots new skills without requiring robotics or programming knowledge. However, the inertia and uncoordinated motions of individual joints decrease the intuitiveness and naturalness of interaction and impair the quality of the learned skill. This paper proposes a method to ease kinesthetic teaching by combining the idea of incremental learning through warping several demonstrations into a common frame with virtual tool dynamics to assist the user during teaching. In fact, during a sequence of demonstrations the stiffness of the robot under Cartesian impedance control is gradually increased, to provide stronger assistance to the user based on the demonstrations accumulated up to that moment. Therefore, the operator has the opportunity to progressively refine the task's model while the robot more docilely follows the learned action. Robot experiments and a user study performed on 25 novice users show that the proposed approach improves both usability as well as resulting skill quality.
Original language | English |
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Title of host publication | ACM/IEEE International Conference on Human-Robot Interaction |
Publisher | IEEE |
Pages | 205-212 |
Number of pages | 8 |
Volume | 2016-April |
ISBN (Print) | 9781467383707 |
DOIs | |
Publication status | Published - 12 Apr 2016 |
MoE publication type | A4 Conference publication |
Event | ACM/IEEE International Conference on Human-Robot Interaction - Christchurch, New Zealand Duration: 7 Mar 2016 → 10 Mar 2016 Conference number: 11 |
Conference
Conference | ACM/IEEE International Conference on Human-Robot Interaction |
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Abbreviated title | HRI |
Country/Territory | New Zealand |
City | Christchurch |
Period | 07/03/2016 → 10/03/2016 |
Keywords
- Dynamic time warping
- Incremental learning
- Kinesthetic teaching
- Virtual tool dynamics