Title :
Real-time orientation-invariant trajectory learning in human-robot interactions
Author :
Luh, J.Y.S. ; Hu, Shuyi
Author_Institution :
Clemson Univ., SC, USA
Abstract :
Trajectory/profile in human-robot cooperative tasks is investigated for real-time identification and learning. The method of three-distances and its association with specific spherical and Cartesian coordinates are presented which are invariant to rotation/translation, and insensitive to disturbance. These methods are illustrated via computer simulations
Keywords :
digital simulation; man-machine systems; manipulators; position control; robot programming; Cartesian coordinates; human-robot cooperative tasks; human-robot interactions; real-time identification; real-time orientation-invariant trajectory learning; rotation invariance; spherical coordinates; three-distances method; translation invariance; Artificial intelligence; Computer simulation; Equations; Humans; Intelligent robots; Labeling; Manipulators; Orbital robotics; Robot kinematics; Robotics and automation;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.727317
