A Framework for Teaching Impedance Behaviours by Combining Human and Robot ‘Best Practice’

TY - CHAP

T1 - A Framework for Teaching Impedance Behaviours by Combining Human and Robot ‘Best Practice’

AU - Zhao, Yuchen

AU - Sena, Aran

AU - Wu, Fan

AU - Howard, Matthew Jacob William

PY - 2018/10/1

Y1 - 2018/10/1

N2 - This paper presents a programming by demonstration framework for teaching impedance modulation using human demonstrations. Physiologically, human stiffness and damping are coupled at the muscle level, restricting the ability to modulate impedance according to task demands. On the other hand, robotic systems do not have this issue, but thechallenge is to plan a feasible variable impedance profile. In this paper, the task critical component is first learned for imitation and robot-specific controller is then blended. The user can use this blending scheme to take advantage of both human and robot ‘best practice’. The result shows the sawyer robot can achieve one magnitude better mean performance and less variance by using the blended scheme.

AB - This paper presents a programming by demonstration framework for teaching impedance modulation using human demonstrations. Physiologically, human stiffness and damping are coupled at the muscle level, restricting the ability to modulate impedance according to task demands. On the other hand, robotic systems do not have this issue, but thechallenge is to plan a feasible variable impedance profile. In this paper, the task critical component is first learned for imitation and robot-specific controller is then blended. The user can use this blending scheme to take advantage of both human and robot ‘best practice’. The result shows the sawyer robot can achieve one magnitude better mean performance and less variance by using the blended scheme.

U2 - 10.1109/IROS.2018.8593502

DO - 10.1109/IROS.2018.8593502

M3 - Conference paper

SP - 3010

EP - 3015

BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - IEEE

ER -