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Thursday, 2011-01-27
 
Department of Robotic Systems

Abstract

Aude Billard

EPFL

Motion Learning during Physical Interaction with Humans

We consider the problem of learning varying impedance control from physical human demonstration. Rather than observing how humans control for impedance when "humans perform the task", we here use the human as a teacher to train the robot to demonstrate what forces the robot should respond with when perturbed. Human guidance is used in two capacities: to teach the robot the forces required to accomplish the task, when unperturbed; and to teach the robot to adapt its stiffness, when perturbed, as a function of  the state of the system. We will see applications of this work for compliant manipulation of object with a multi-finger hand and for control of an arm manipulator.


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