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

Name: 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.

İsim	Teaching robots to cooperate with humans in dynamic manipulation tasks based on multi-modal human-in-the-loop approach
Yazar	Peternel, L., Petric, T., Öztop, Erhan, Babic, J.
Basım Tarihi:	2014-01
Basım Yeri	- Springer Science+Business Media
Konu	Human–robot interaction, Sensorimotor learning, Teleoperation, Impedance control ·, Adaptive oscillator
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1573-7527
Kayıt Numarası	272d229a-df74-4020-8724-584b49cd80b0
Lokasyon	Computer Science
Tarih	2014-01
Notlar	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Örnek Metin	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

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

Basım Tarihi 2014-01

Basım Yeri - Springer Science+Business Media

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

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1573-7527

Kayıt Numarası 272d229a-df74-4020-8724-584b49cd80b0

Lokasyon Computer Science

Tarih 2014-01

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

Örnek Metin 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