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Programming by Demonstration Using the Teleimpedance Control Scheme: Verification by an sEMG-Controlled Ball-Trapping Robot SCIE SCOPUS

Title
Programming by Demonstration Using the Teleimpedance Control Scheme: Verification by an sEMG-Controlled Ball-Trapping Robot
Authors
PARK, SEONG SIKLEE, WOONG YONGCHUNG, WAN KYUNKIM, KEE HOON
Date Issued
2019-02
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Abstract
Impedance control allows robots to manipulate physical interactions delicately. However, issues associated with path planning and impedance remain unresolved. Herein we propose a path and impedance planning method for impedance control in a robot based on programming by demonstration through telemanipulation using a surface electromyogram. We considered a task that requires quick and precise adjustment of path and impedance, that is, ball trapping. We implemented a teleoperated robot that can deliver an operator's impedance as well as position during the ball trapping task to the slave side. The operators were asked to perform demonstrations of ball-trapping tasks using the implemented teleoperated robot, where the slave side is a vertical robot with one degree of freedom. The path and impedance were recorded and programmed as control input profiles from a set of successful demonstrations using Gaussian mixture regression. The result showed that using the human demonstration, the robot could learn how to catch a dropped ball without rebounding.
URI
https://oasis.postech.ac.kr/handle/2014.oak/94491
DOI
10.1109/TII.2018.2876676
ISSN
1551-3203
Article Type
Article
Citation
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, vol. 15, no. 2, page. 998 - 1006, 2019-02
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정완균CHUNG, WAN KYUN
Dept of Mechanical Enginrg
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