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In Programming by Demonstration (PbD), one of the key problems for autonomous learning is to automatically extract the relevant features of a manipulation task, which has a significant impact on the generalization capabilities. In this paper, task features are encoded as constraints of a learned planning model. In order to extract the relevant constraints, the human teacher demonstrates a set of tests,...
In this paper, we investigate the maneuverability performance of human teleoperators on multi-robots. First, we propose that maneuverability performance can be assessed by a frequency response function that jointly considers the input force of the operator and the position errors of the multi-robot system that is being maneuvered. Doing so allows us to evaluate maneuverability performance in terms...
In this paper, we propose a novel haptic device that gives weight and friction illusions. Sensing a slip condition at a fingertip plays an important role to estimate the weight and friction properties of an object. This fact suggests that controlling the contact condition could yield weight and friction illusions. Based on this idea, a prototype device was developed that controls the contact surface...
Design of an actively controlled prosthetic foot is an emerging research area in robotics. When there are changes in walking conditions such as terrain or speed, classical control methods might confront difficulties. An intelligent prosthetic foot will adapt more efficiently to those changes if it is equipped with an online learning control algorithm. To design such controller, the first step is to...
The purpose of this study is to develop the measurement method of pushing/pulling force exertion for useful ergonomic design of consumer products, and to estimate the approximate force from body weights. In order to measure user-friendly pushing/pulling force exertion, maximal force exertion with one hand without varying posture is regarded as, hcomfortable forceh(CF). Thirty-four participants (17...
This paper presents the control concept of a semi-mobile haptic interface for extended range telepresence that enables the user to explore spatially unrestricted target environments even from a small user environment. The semi-mobile haptic interface consists of a haptic manipulator mounted on a large grounded Cartesian robot, the prepositioning unit. The prepositioning unit is controlled in such...
A semi-autonomous control strategy is proposed for teleoperation of a mobile base and/or a twin-arm robotic manipulator for use when conventional teleoperation is inadequate. The approach employs idempotent and generalized pseudoinverse matrices to augment operator(s) control with some level of assistance/autonomy. An application specific task-space weighting matrix is introduced to adjust the relative...
Muscle co-contraction can be modeled as an active modulation of the passive musculo-skeletal compliance. Within this context, recent findings in human motor control have shown that active compliance modulation is fundamental when planning movements in presence of unpredictability and uncertainties. Along this line of research, this paper investigates the link between active impedance control and unpredictability,...
Developments to the small-gain design approach to networked cooperative force-reflecting teleoperators are presented. Explicit assumptions on the human dynamics are incorporated into the stability analysis, and the conservatism of the small-gain design is eliminated using the projection-based force reflection principle. Results are established that describe the stability properties of the networked...
Focusing on the physical interaction between people and machines within safety constraints in versatile situations, this paper proposes a new, efficient actuation approach, continuous-state coupled elastic actuation (CCEA), to provide oncoming human-machine systems with an intrinsic programmable stiffness capacity to shape output force corresponding to the deviation between human motions and set positions...
Imitation learning, also known as Programming by Demonstration, allows a non-expert user to teach complex skills to a robot. While so far researchers focused on abstracting kinematic relations, only little attention has been paid to force information. In this work we study imitation learning of human grasping skills from motion and force data. For this purpose a teleoperation system is realized that...
In this paper, we present an experimental validation of a novel decentralized passivity-based control strategy for teleoperating a group of Unmanned Aerial Vehicles (UAVs): the slave side, consisting of the UAVs, is endowed with large group autonomy by allowing time-varying topology and inter-robot/obstacle collision avoidance. The master side, represented by a human operator, controls the group motion...
This paper explores learning of interaction force skills by human demonstration in dynamic interaction tasks. Skillful force regulation is required in many cases to achieve the goal of a task and at the same time, not to cause undesired stress on the manipulator or the object under manipulation which could result in physical failure. For example, manipulation of compliant objects with varying physical...
Haptic rendering provides users with the senses of touch during their interacting with the simulated objects in virtual environment. The maximum achievable object stiffness is critical for realistic haptic rendering of rigid objects, and is constrained by several inevitable ”non-idealities” in the haptic system as well as the behavior of the human operator, i.e. the mechanical impedance of human arm...
Physical cooperation with humans greatly enhances the capabilities of robotic systems when leaving standardized industrial settings. Our novel cognition-enabled control framework presented in this paper enables a robotic assistant to enrich its own experience by acquisition of human task knowledge during joint manipulation. Our robot incrementally learns semantic task structures during joint task...
In this paper we describe and practically demonstrate a robotic arm/hand system that is controlled in real-time in 6D Cartesian space through measured human muscular activity. The soft-robotics control architecture of the robotic system ensures safe physical human robot interaction as well as stable behaviour while operating in an unstructured environment. Muscular control is realised via surface...
This paper introduces and analyzes an algorithm for adaptation of the reference trajectory of a human or robot arm interacting with a novel environment. The algorithm, based on the minimization of interaction force and performance error by satisfying a desired impedance, yields a mathematically rigorous model of the underlying mechanism of motion planning adaptation in humans. Simulations demonstrate...
In aging societies, there is a strong demand for robotics to tackle problems resulting from the aging population. We have developed a prototype nursing-care assistant robot, RIBA, which was designed to come in direct contact with patients and conduct physically challenging tasks. RIBA interacts with its object, typically a human, through multiple and distributed contact regions on its arms and body...
Robots acting in complex environments need not only be aware of objects, but also of the relationships objects have with each other. This paper suggests a conceptualization of these relationships in terms of task-relevant functional distinctions, such as support, location control, protection and confinement. Being able to discern such relations in a scene will be important for robots in practical...
In this paper, we study two dancers' coupled body dynamics when dancing a waltz. A linear inverted pendulum (LIPM) model for biped locomotion is utilized as each dancer's dynamic model, and a balance controller for each dynamic model is introduced. A pair of dancers are then modeled as two spring-damper-connected LIPMs with their respective controllers. Assuming a perfect rhythmic and synchronized...
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