ICRA 2011 Paper Abstract


Paper WeP203.1

Kormushev, Petar (Italian Institute of Technology), Nenchev, Dragomir (Tokyo City University), Calinon, Sylvain (Italian Institute of Technology), Caldwell, Darwin G. (Italian Institute of Technology)

Upper-Body Kinesthetic Teaching of a Free-Standing Humanoid Robot

Scheduled for presentation during the Regular Sessions "Humanoid Robots IV" (WeP203), Wednesday, May 11, 2011, 15:25−15:40, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Humanoid Robots, Physical Human-Robot Interaction, Learning and Adaptive Systems


We present an integrated approach allowing a free-standing humanoid robot to acquire new motor skills by kinesthetic teaching. The proposed method controls simultaneously the upper and lower body of the robot with different control strategies. Imitation learning is used for training the upper body of the humanoid robot via kinesthetic teaching, while at the same time Reaction Null Space method is used for keeping the balance of the robot. During demonstration, a force/torque sensor is used to record the exerted forces, and during reproduction, we use a hybrid position/force controller to apply the learned trajectories in terms of positions and forces to the end effector. The proposed method is tested on a 25-DOF Fujitsu HOAP-2 humanoid robot with a surface cleaning task.



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