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 SIK; LEE, WOONG YONG; CHUNG, WAN KYUN; KIM, 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
- Files in This Item:
- There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.