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Autonomous Robots
Erschienen in: Autonomous Robots 1-2/2014

01.01.2014

Teaching robots to cooperate with humans in dynamic manipulation tasks based on multi-modal human-in-the-loop approach

verfasst von: Luka Peternel, Tadej Petrič, Erhan Oztop, Jan Babič

Erschienen in: Autonomous Robots | Ausgabe 1-2/2014

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Abstract

We propose an approach to efficiently teach robots how to perform dynamic manipulation tasks in cooperation with a human partner. The approach utilises human sensorimotor learning ability where the human tutor controls the robot through a multi-modal interface to make it perform the desired task. During the tutoring, the robot simultaneously learns the action policy of the tutor and through time gains full autonomy. We demonstrate our approach by an experiment where we taught a robot how to perform a wood sawing task with a human partner using a two-person cross-cut saw. The challenge of this experiment is that it requires precise coordination of the robot’s motion and compliance according to the partner’s actions. To transfer the sawing skill from the tutor to the robot we used Locally Weighted Regression for trajectory generalisation, and adaptive oscillators for adaptation of the robot to the partner’s motion.
Vorheriger Artikel An active sensing strategy for contact location without tactile sensors using robot geometry and kinematics
Nächster Artikel Autonomously learning to visually detect where manipulation will succeed

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Fußnoten
1
Stiffness is the inverse of compliance.
 
2
Error is equal to the difference between the demonstrated (desired) and learnt performance.
 
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Metadaten
Titel
Teaching robots to cooperate with humans in dynamic manipulation tasks based on multi-modal human-in-the-loop approach
verfasst von
Luka Peternel
Tadej Petrič
Erhan Oztop
Jan Babič
Publikationsdatum
01.01.2014
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 1-2/2014
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-013-9361-0

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