Automatic Parameterization of Motion and Force Controlled Robot Skills

Vamsi Krishna Origanti, Thomas Eiband, Dongheui Lee

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

Compliant robot tasks such as grinding require a robot to use a specific control strategy and to consider a number of process parameters. It is demanding to program such behaviors from scratch. Therefore, so called contact skills can be employed that are pre-programmed control strategies, which are optimized for the intended task. With that level of abstraction, which is defining skills that are specific to the task, only the skill’s parameters need to be identified and not the whole strategy to be implemented. In order to allow non-experts to transfer such complex behaviors to a robot, we present two different contact skills and how they are automatically parameterized by a human demonstration. This process learns the robot behavior in one shot while considering task goals, such as desired forces and motions. We evaluated our framework in the PyBullet physics simulator and showed that the parameterized skills follow the task goals while generalizing to changes in the environment.

Original languageEnglish
Title of host publicationRobot Intelligence Technology and Applications 6 - Results from the 9th International Conference on Robot Intelligence Technology and Applications
EditorsJinwhan Kim, Brendan Englot, Hae-Won Park, Han-Lim Choi, Hyun Myung, Junmo Kim, Jong-Hwan Kim
PublisherSpringer Science and Business Media Deutschland GmbH
Pages66-78
Number of pages13
ISBN (Print)9783030976712
DOIs
StatePublished - 2022
Externally publishedYes
Event9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021 - Daejeon, Korea, Democratic People's Republic of
Duration: 16 Dec 202117 Dec 2021

Publication series

NameLecture Notes in Networks and Systems
Volume429 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389

Conference

Conference9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021
Country/TerritoryKorea, Democratic People's Republic of
CityDaejeon
Period16/12/2117/12/21

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