NDLI: Teaching robots to cooperate with humans in dynamic manipulation tasks based on multi-modal human-in-the-loop approach

Content Provider	Springer Nature Link
Author	Peternel, Luka Petrič, Tadej Oztop, Erhan Babič, Jan
Copyright Year	2013
Abstract	We propose an approach to efficiently teach robots how to perform dynamic manipulation tasks in cooperation with a human partner. The approach utilises human sensorimotor learning ability where the human tutor controls the robot through a multi-modal interface to make it perform the desired task. During the tutoring, the robot simultaneously learns the action policy of the tutor and through time gains full autonomy. We demonstrate our approach by an experiment where we taught a robot how to perform a wood sawing task with a human partner using a two-person cross-cut saw. The challenge of this experiment is that it requires precise coordination of the robot’s motion and compliance according to the partner’s actions. To transfer the sawing skill from the tutor to the robot we used Locally Weighted Regression for trajectory generalisation, and adaptive oscillators for adaptation of the robot to the partner’s motion.
Starting Page	123
Ending Page	136
Page Count	14
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	36
Issue Number	1-2
e-ISSN	15737527
Language	English
Publisher	Springer US
Publisher Date	2013-08-09
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Human–robot interaction Sensorimotor learning Teleoperation Impedance control Adaptive oscillator Robotics and Automation Artificial Intelligence (incl. Robotics) Computer Imaging, Vision, Pattern Recognition and Graphics Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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