ICRA 20160 citations
Softbot: Software-based lead-through for rigid servo robots
Yackov Lubarsky, Amit Wolf, Lior Wolf, Curime Batliner, Jake Newsum
Abstract
In this paper, we present an interactive control method for rigid robotics. The core of the method is a neural network classifier that maps position and torque readings to a force direction in 3D space. We show that running our method online allows a human to move the robot along a desired path by performing intuitive pushes and pulls on the robot's joints. The setup is sensorless: no additional sensors, other than those already integral to the rigid joint itself, are added to the manipulator or used in the process.
BibTeX
@inproceedings{icra2016_softbotsoftwareb,
title = {Softbot: Software-based lead-through for rigid servo robots},
author = {Yackov Lubarsky and Amit Wolf and Lior Wolf and Curime Batliner and Jake Newsum},
booktitle = {ICRA 2016},
year = {2016}
}