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Shared control is a key technology for various robotic applications in which a robotic system and a human operator are meant to collaborate efficiently. In order to achieve efficient task execution in shared control, it is essential to predict the desired behavior for a given situation or context in order to simplify the control task for the human operator. This prediction is obtained by exploiting...
In contact-based manipulations, the effects of the robot's actions change as contacts are made or broken. For example, if a robot applies an increasing upward force to an object, then the force will eventually overcome the object's weight and break the object–table contact. The robot can subsequently raise or lower the height of the object. The transition from resting on the table to not being in...
Learning sequential force interaction tasks from kinesthetic demonstrations is a promising approach to transfer human manipulation abilities to a robot. In this paper we propose a novel concept to decompose such demonstrations into a set of Movement Primitives (MPs). The decomposition is based on a probability distribution we call Directional Normal Distribution (DND). To capture the sequential properties...
Physical interaction in robotics is a complex problem that requires not only accurate reproduction of the kinematic trajectories but also of the forces and torques exhibited during the movement. We base our approach on Movement Primitives (MP), as MPs provide a framework for modelling complex movements and introduce useful operations on the movements, such as generalization to novel situations, time...
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