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

Franz Steinmetz, Alberto Montebelli*, Ville Kyrki

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

24 Citations (Scopus)

Abstract

This paper demonstrates a method for simultaneous transfer of positional and force requirements for in-contact tasks from a human instructor to a robotic arm through kinesthetic teaching. This is achieved by a specific use of the sensory configuration, where a force/torque sensor is mounted between the tool and the flange of a robotic arm endowed with integrated torque sensors at each joint. The human demonstration is modeled using Dynamic Movement Primitives. Following human demonstration, the robot arm is provided with the capacity to perform sequential in-contact tasks, for example writing on a notepad a previously demonstrated sequence of characters. During the reenactment of the task, the system is not only able to imitate and generalize from demonstrated trajectories, but also from their associated force profiles. In fact, the implemented framework is extended to successfully recover from perturbations of the trajectory during reenactment and to cope with dynamic environments.

Original languageEnglish
Title of host publicationIEEE-RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Pages202-209
Number of pages8
Volume2015-December
ISBN (Electronic)978-1-4799-6884-8
ISBN (Print)9781479968855
DOIs
Publication statusPublished - 22 Dec 2015
MoE publication typeA4 Article in a conference publication
EventIEEE-RAS International Conference on Humanoid Robots - Seoul, Korea, Republic of
Duration: 3 Nov 20155 Nov 2015
Conference number: 15

Conference

ConferenceIEEE-RAS International Conference on Humanoid Robots
Abbreviated titleHumanoids
CountryKorea, Republic of
CitySeoul
Period03/11/201505/11/2015

Keywords

  • Dynamics
  • Force
  • Impedance
  • Robot kinematics
  • Robot sensing systems
  • Trajectory

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