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

Title	Teaching robots to cooperate with humans in dynamic manipulation tasks based on multi-modal human-in-the-loop approach
Author	Peternel, L., Petric, T., Öztop, Erhan, Babic, J.
Publication Date:	2014-01
Publication Place	- Springer Science+Business Media
Subject	Human–robot interaction, Sensorimotor learning, Teleoperation, Impedance control ·, Adaptive oscillator
Type	Periodical
Language	English
Digital	Yes
Manuscript	No
Library:	Özyeğin University
Library Asset ID	1573-7527
Record ID	272d229a-df74-4020-8724-584b49cd80b0
Library Location	Computer Science
Date	2014-01
Notes	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Sample Text	We propose an approach to efﬁciently teach robots how to perform dynamic anipulation 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 crosscut saw. The challenge of this experiment is that it requires precise coordination of the robot’s motion and complianceaccording 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.
DOI	10.1007/s10514-013-9361-0
Cilt	36

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

Author Peternel, L., Petric, T., Öztop, Erhan, Babic, J.

Publication Date 2014-01

Publication Place - Springer Science+Business Media

Subject Human–robot interaction, Sensorimotor learning, Teleoperation, Impedance control ·, Adaptive oscillator

Type Periodical

Language English

Digital Yes

Manuscript No

Library Özyeğin University

Library Asset ID 1573-7527

Record ID 272d229a-df74-4020-8724-584b49cd80b0

Library Location Computer Science

Date 2014-01

Notes Due to copyright restrictions, the access to the full text of this article is only available via subscription.

Sample Text We propose an approach to efﬁciently teach robots how to perform dynamic anipulation 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 crosscut saw. The challenge of this experiment is that it requires precise coordination of the robot’s motion and complianceaccording 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.

DOI 10.1007/s10514-013-9361-0

Cilt 36