Mimetic communication with impedance control for physical human-robot interaction

Dongheui Lee, Christian Ott, Yoshihiko Nakamura

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

17 Scopus citations

Abstract

In this paper, mimetic communication is extended to human-robot interaction tasks, in which physical contact transitions must be handled. The mimetic communication consists of imitation learning for learning low level motion primitives and a higher level interaction learning stage in which also the information about the human-robot contacts is included. For the imitation learning, Cartesian marker data from a motion capture system is used. A modification of the low level marker trajectory following algorithm is presented, which allows to reshape the trajectory of the motion primitive in accordance with the human hand motion in real-time. Moreover, for performing safe contact motion, an appropriate impedance controller is integrated into the setting. All the presented concepts are evaluated in experiments with a humanoid robot.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages1535-1542
Number of pages8
DOIs
StatePublished - 2009
Externally publishedYes
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: 12 May 200917 May 2009

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2009 IEEE International Conference on Robotics and Automation, ICRA '09
Country/TerritoryJapan
CityKobe
Period12/05/0917/05/09

Keywords

  • Impedance control
  • Marker Control
  • Mimetic communication
  • Physical human
  • Robot interaction

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