8 accepted papers
Purposeful interaction with objects usually requires certain constraints to be respected, e.g. keeping a bottle upright to avoid spilling. In reinforcement learning, such constraints are typically encoded in the reward function. As a consequence, constraints can only be learned by violating them. Th…
Virtual Fixtures facilitate teleoperation, for in-stance by guiding the human operator. Developing these Virtual Fixtures in tasks with tight tolerances remains challenging. Fixtures with a high stiffness allow for more precise guidance, whereas a lower stiffness is required to allow for corrections…
In tendon-driven robotic hands, tendons are usually routed along several pulleys. The resulting friction is often substantial, and must therefore be modelled and estimated, for instance for accurate control and contact detection. Common approaches for friction estimation consider special dedicated s…
Controlling a robotic arm to achieve manipulation tasks is challenging for humans. Especially if only low-dimensional input signals can be provided, as is often the case for users with motor impairments. Using shared control to provide task-specific guidance and constraints facilitates control – for…
Intuitive robot programming for non-experts will be essential to increasing automation in small and medium-sized enterprises. Programming by demonstration (PbD) is a fast and intuitive approach, whereas programs created with task-level programming (TLP) are easy to understand and flexible in their e
Maintaining competitiveness and mitigating health issues test caused by unergonomic working conditions are two main reasons for automating production processes. But such automation is expensive, also because test experts are required to program the robots. One approach to lowering these costs is to
Robotic tasks are becoming increasingly complex, and with this also the robotic systems. This requires new tools to manage this complexity and to orchestrate the systems to fulfill demanding autonomous tasks. For this purpose, we developed a new graphical tool targeting at the creation and execution…
We present a (generalizable) method aimed to simultaneously transfer positional and force requirements encoded in a physical human skill (wood planing) from a human instructor to a robotic arm through kinesthetic teaching. We achieve our goal through a novel use of a common sensory configuration, co…