000255810 001__ 255810
000255810 005__ 20190628173822.0
000255810 037__ $$aCONF
000255810 245__ $$aFrom Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems
000255810 260__ $$c2018-06-29
000255810 269__ $$a2018-06-29
000255810 300__ $$a8
000255810 336__ $$aConference Papers
000255810 520__ $$aIn this work, we present an adaptive motion planning approach for impedance-controlled robots to modify their tasks based on human physical interactions. We use a class of parameterized time-independent dynamical systems for motion generation where the modulation of such parameters allows for motion flexibility. To adapt to human interactions, we update the parameter of our dynamical system in order to reduce the tracking error (i.e., between the desired trajectory generated by the dynamical system and the real trajectory influenced by the human interaction). We provide analytical analysis and several simulations of our method. Finally, we investigate our approach through real world experiments with 7-DOF KUKA LWR 4+ robot performing tasks such as polishing and pick-and-place.
000255810 6531_ $$aRobotics
000255810 6531_ $$aPhysical human-robot interaction
000255810 6531_ $$aAdaptation
000255810 6531_ $$aDynamical System
000255810 6531_ $$aImpedance control
000255810 6531_ $$aRobotic arms
000255810 700__ $$g217217$$aKhoramshahi, Mahdi$$0248368
000255810 700__ $$aLaurens, Antoine
000255810 700__ $$aTriquet, Thomas
000255810 700__ $$0240594$$aBillard, Aude$$g115671
000255810 7112_ $$dOctober 1-5, 2018$$cMadrid, Spain$$a2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
000255810 8560_ $$fmahdi.khoramshahi@epfl.ch
000255810 8564_ $$s2477760$$uhttps://infoscience.epfl.ch/record/255810/files/root_revised.pdf
000255810 909C0 $$pLASA$$maude.billard@epfl.ch$$0252119$$xU10660
000255810 909CO $$pSTI$$pconf$$ooai:infoscience.epfl.ch:255810
000255810 960__ $$amahdi.khoramshahi@epfl.ch
000255810 961__ $$aalain.borel@epfl.ch
000255810 973__ $$aEPFL$$rREVIEWED
000255810 980__ $$aCONF
000255810 981__ $$aoverwrite