For decades, robots have been able to reliably follow precise trajectories making them ideal tools for assembly lines and other structured environments. However, pre-programmed motions fail under uncertainty and are unsafe around humans, making them inadequate for unstructured environments. This paper presents a framework to generate safe, robust, and generalizable robot behaviors for contact tasks where compliance plays a key role. First, we collect task data from haptic demonstrations. Then, we segment the data into a sequence of compliant primitives. Finally, we extract the key parameters required for a robot to perform each of the primitive actions using interpretable, model-based controllers.

    This method was experimentally validated on a steel bolting task using a 7-DOF Franka Panda robot. By recombining the primitives, we were also able to screw a cap onto containers of different sizes, placed in arbitrary configurations, using two different 7-DOF manipulators. The results show that our method generates position and orientation invariant, robot-agnostic controllers.


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    Titel :

    Parametrization of Compliant, Object-Level Controllers from Human Demonstrations


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Altuzarra, Oscar (Herausgeber:in) / Kecskeméthy, Andrés (Herausgeber:in) / Herrero, Elena Galbally (Autor:in) / Piedra, Adrian (Autor:in) / Brosque, Cynthia (Autor:in) / Khatib, Oussama (Autor:in)

    Kongress:

    International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022



    Erscheinungsdatum :

    2022-06-18


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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