TY - GEN
T1 - Learning motion and impedance behaviors from human demonstrations
AU - Saveriano, Matteo
AU - Lee, Dongheui
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014
Y1 - 2014
N2 - Human-robot skill transfer has been deeply investigated from a kinematic point of view, generating various approaches to increase the robot knowledge in a simple and compact way. Nevertheless, social robotics applications require a close and active interaction with humans in a safe and natural manner. Torque controlled robots, with their variable impedance capabilities, seem a viable option toward a safe and profitable human-robot interaction. In this paper, an approach is proposed to simultaneously learn motion and impedance behaviors from tasks demonstrations. Kinematic aspects of the task are represented in a statistical way, while the variability along the demonstrations is used to define a variable impedance behavior. The effectiveness of our approach is validated with simulations on real and synthetic data.
AB - Human-robot skill transfer has been deeply investigated from a kinematic point of view, generating various approaches to increase the robot knowledge in a simple and compact way. Nevertheless, social robotics applications require a close and active interaction with humans in a safe and natural manner. Torque controlled robots, with their variable impedance capabilities, seem a viable option toward a safe and profitable human-robot interaction. In this paper, an approach is proposed to simultaneously learn motion and impedance behaviors from tasks demonstrations. Kinematic aspects of the task are represented in a statistical way, while the variability along the demonstrations is used to define a variable impedance behavior. The effectiveness of our approach is validated with simulations on real and synthetic data.
KW - Learning from Demonstrations
KW - state-dependent behavior
KW - variable impedance control
UR - http://www.scopus.com/inward/record.url?scp=84988254014&partnerID=8YFLogxK
U2 - 10.1109/URAI.2014.7057371
DO - 10.1109/URAI.2014.7057371
M3 - Conference contribution
AN - SCOPUS:84988254014
T3 - 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
SP - 368
EP - 373
BT - 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
Y2 - 12 November 2014 through 15 November 2014
ER -