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

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Abstract

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 the
challenge 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.
Original languageEnglish
Title of host publication 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Pages3010-3015
DOIs
Publication statusPublished - 1 Oct 2018

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