ICRA 2012 Paper Abstract


Paper WeA01.5

Nordmann, Arne (CoR-Lab, Bielefeld University), Emmerich, Christian (Bielefeld University), Rüther, Stefan (Bielefeld University, Research Institute for Cognition and Robot), Lemme, alemme (CoR-Lab), Wrede, Sebastian (Bielefeld University), Steil, Jochen J. (Bielefeld University)

Teaching Nullspace Constraints in Physical Human-Robot Interaction Using Reservoir Computing

Scheduled for presentation during the Regular Session "Learning and Adaptation Control of Robotic Systems II" (WeA01), Wednesday, May 16, 2012, 09:30−09:45, Meeting Room 1 (Mini-sota)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

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


A major goal of current robotics research is to enable robots to become co-workers that collaborate with humans efficiently and adapt to changing environments or workflows. We present an approach utilizing the physical interaction capabilities of compliant robots with data-driven and model-free learning in a coherent system in order to make fast reconfiguration of redundant robots feasible. Users with no particular robotics knowledge can perform this task in physical interaction with the compliant robot, for example to reconfigure a work cell due to changes in the environment. For fast and efficient training of the respective mapping, an associative reservoir neural network is employed. It is embedded in the motion controller of the system, hence allowing for execution of arbitrary motions in task space. We describe the training, exploration and the control architecture of the systems as well as present an evaluation on the KUKA Light-Weight Robot. Our results show that the learned model solves the redundancy resolution problem under the given constraints with sufficient accuracy and generalizes to generate valid joint-space trajectories even in untrained areas of the workspace.



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