DocumentCode :
250992
Title :
Online approach for altering robot behaviors based on human in the loop coaching gestures
Author :
Petric, Tadej ; Gams, Andrej ; Zlajpah, Leon ; Ude, Ales ; Morimoto, Jun
Author_Institution :
Dept. of Automatics, Jozef Stefan Inst. (JSI), Ljubljana, Slovenia
fYear :
2014
fDate :
May 31 2014-June 7 2014
Firstpage :
4770
Lastpage :
4776
Abstract :
The creation and adaptation of motor behaviors is an important capability for autonomous robots. In this paper we propose an approach for altering existing robot behaviors online, where a human coach interactively changes the robot motion to achieve the desired outcome. Using hand gestures, the human coach can specify the desired modifications to the previously acquired behavior. To preserve a natural posture while performing the task, the movement is encoded in the robot´s joint space using periodic dynamic movement primitives. The coaching gestures are mapped to the robot joint space via robot Jacobian and used to create a virtual force field affecting the movement. A recursive least squares technique is used to modify the existing movement with respect to the virtual force field. The proposed approach was evaluated on a simulated three degrees of freedom planar robot and on a real humanoid robot, where human coaching gestures were captured by an RGB-D sensor. Although our focus was on rhythmic movements, the developed approach is also applicable to discrete (point-to-point) movements.
Keywords :
Jacobian matrices; humanoid robots; least squares approximations; motion control; RGB-D sensor; altering robot behaviors; autonomous robots; dynamic movement; hand gestures; human coach; human coaching gestures; loop coaching gestures; motor behaviors; online approach; real humanoid robot; recursive least squares technique; rhythmic movements; robot Jacobian; robot joint space; robot motion; virtual force field; Couplings; Joints; Oscillators; Robot kinematics; Robot sensing systems; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
Type :
conf
DOI :
10.1109/ICRA.2014.6907557
Filename :
6907557
Link To Document :
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