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A New Phase Determination Algorithm for Iterative Learning of Human-Robot Collaboration
2021
Zenodo
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In this paper we discuss a methodology for learning human-robot collaboration tasks by human guidance. ...
In the proposed framework, the robot learns the task in multiple repetitions of the task by comparing and adapting the performed trajectories so that the robot's performance naturally evolves into a collaborative ...
The research leading to these results has received funding from the Horizon 2020 RIA Programme grant no. 820767, CoLLaboratE. ...
doi:10.5281/zenodo.5589237
fatcat:ln2goxx7zbdzdkk67bwitztuz4
Human robot cooperation with compliance adaptation along the motion trajectory
2017
Autonomous Robots
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In this paper we propose a novel approach for intuitive and natural physical human-robot interaction in cooperative tasks. ...
Through initial learning by demonstration, robot behavior naturally evolves into a cooperative task, where the human co-worker is allowed to modify both the spatial course of motion as well as the speed ...
The method has been extensively applied, for example also for virtual guides, where the robot is compliant only in the direction of the trajectory (Raiola et al, 2015) , and for learning of physical collaborative ...
doi:10.1007/s10514-017-9676-3
fatcat:mezrjzyz3vdj5lhrxdgq66ikdm
Obstacles and Opportunities for Learning from Demonstration in Practical Industrial Assembly: A Systematic Literature Review
[article]
2023
arXiv
pre-print
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Learning from demonstration is one of the most promising methods to counteract the challenging long-term trends in repetitive industrial assembly. ...
It aims to provide an overview of the state-of-the-art learning from demonstration solutions developed for assembly-related tasks and offer a critical discussion of remaining obstacles in order to drive ...
In the new era of collaborative robots, the robotics industry has recognised the necessity of bringing robots closer to human operators by ensuring the operators' safety and simplifying the robots' operability ...
arXiv:2310.00276v1
fatcat:5tge3mag3fgobh25nardcz25pq
Cloud-Based Hierarchical Imitation Learning for Scalable Transfer of Construction Skills from Human Workers to Assisting Robots
[article]
2023
arXiv
pre-print
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Second, it employs a federated collection of reusable demonstrations that are transferable for similar tasks in the future and can thus reduce the requirement for repetitive illustration of tasks by human ...
Assigning repetitive and physically-demanding construction tasks to robots can alleviate human workers's exposure to occupational injuries. ...
robot experiments. ...
arXiv:2309.11619v1
fatcat:noxxxsnhgretba4whkst25g2mq
Bimanual human robot cooperation with adaptive stiffness control
2016
2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)
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We propose a human-robot cooperation scheme for bimanual robots. ...
After the initial task demonstration, the human co-worker can modify both the spatial course of motion as well as the speed of execution in an intuitive way. ...
ACKNOWLEDGMENT This work was supported by EU Horizon 2020 Programme grant no. 680431, ReconCell and by the Slovenian Research Agency grant J2-7360, "Learning and autonomous adaptation of dual arm assembly ...
doi:10.1109/humanoids.2016.7803337
dblp:conf/humanoids/NemecLGU16
fatcat:xxa56bbidzaqtmzozya2a235la
Synthesis and Execution of Communicative Robotic Movements with Generative Adversarial Networks
[article]
2022
arXiv
pre-print
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In this work, we focus on how to transfer on two different robotic platforms the same kinematics modulation that humans adopt when manipulating delicate objects, aiming to endow robots with the capability ...
Since human intelligence comprises the ability to read the context, allowing robots to perform actions that intuitively convey this kind of information would greatly facilitate collaboration. ...
We considered two robots, the humanoid robot iCub [17] and the collaborative robot Baxter [18] , in order to perform rigorous analysis independently of the kinematics and control of the robots. ...
arXiv:2203.15640v2
fatcat:cn7c4xwhwndh3jr6gv7s7h7r4m
Spatial and Temporal Attention-based emotion estimation on HRI-AVC dataset
[article]
2023
arXiv
pre-print
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Hence it is more practical to obtain self-reported arousal and valence values directly from the human in a real-time Human-Robot collaborative setting. ...
Hence this paper provides an emotion data set (HRI-AVC) obtained while conducting a human-robot interaction (HRI) task. ...
The key contributions of this research are: • The creation of the HRI-AVC emotional data set for a collaborative human-robot assembly task. • The use of a novel spatial and temporal attention-based emotion ...
arXiv:2310.12887v1
fatcat:gl64rib7qbhmrkgosit54f5w2a
A Nonparametric Motion Flow Model for Human Robot Cooperation
[article]
2017
arXiv
pre-print
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a stochastic trajectory optimization method is used to control a robot. ...
In this paper, we present a novel nonparametric motion flow model that effectively describes a motion trajectory of a human and its application to human robot cooperation. ...
INTRODUCTION Traditionally, robots has been deployed to perform relatively simple and repetitive tasks in structured environments, where robots rarely interacted with humans. ...
arXiv:1709.03211v1
fatcat:fdjagzg3frbbxg42o7srwxt7im
Robot learning of industrial assembly task via human demonstrations
2018
Autonomous Robots
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The traditional robot programming cannot cope with these challenges of human-robot collaboration. In this paper, a framework for robot learning by multiple human demonstrations is introduced. ...
Human-robot collaboration in industrial applications is a challenging robotic task. ...
The authors thank MeRoSy industrial project partner pi4 robotics GmbH for the technical support in assembly scenario. ...
doi:10.1007/s10514-018-9725-6
fatcat:pgxk6qhfffguvpjxxbrkbvfdjq
Waypoints updating based on Adam and ILC for path learning in physical human-robot interaction
2021
2021 IEEE International Conference on Robotics and Automation (ICRA)
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This paper presents a novel method for learning and tracking of the desired path of the human partner in physical human-robot interaction. ...
Combining the Adam optimization algorithm with iteration learning control (ILC), a path learning method is designed to generate and update reference waypoints according to the human partner's desired path ...
Considering the repetitiveness of many HRI applications, iterative learning control (ILC) can be used in PbD tasks, which was initially developed for motion control of systems performing repetitive operations ...
doi:10.1109/icra48506.2021.9561197
fatcat:d6pi2ykbirbcvhcu7srljqqyde
Control Techniques for Safe, Ergonomic, and Efficient Human-Robot Collaboration in the Digital Industry: A Survey
2021
IEEE Transactions on Automation Science and Engineering
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trajectory, and in [56], where a machine learning (ML)
during robot movements. ...
Hirche, “Invariance control for safe human–robot
interaction supported by machine learning,” in Proc. 12th Int. Conf. ...
doi:10.1109/tase.2021.3131011
fatcat:w7zm7vlqfnhzheanevg6x3toxm
Learning Interactive Behaviors for Musculoskeletal Robots Using Bayesian Interaction Primitives
[article]
2019
arXiv
pre-print
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In this paper, we propose an approach for learning Bayesian Interaction Primitives for musculoskeletal robots given a limited set of example demonstrations. ...
Musculoskeletal robots that are based on pneumatic actuation have a variety of properties, such as compliance and back-drivability, that render them particularly appealing for human-robot collaboration ...
ACKNOWLEDGMENT We would like to thank Masuda Hiroaki for his assistance. ...
arXiv:1908.05552v1
fatcat:oin2yg7zn5fqrgseleoijw2uzi
HUMAN-ROBOT SYNERGY FOR COOPERATIVE ROBOTS
2016
Facta Universitatis Series Automatic Control and Robotics
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(ELSI) in the context of human-robot cooperation. ...
The first scenario relates to the human-robot cooperation in an industrial application, while the second one refers to the robotic workplace assistance for people with disabilities. ...
The authors thank MeRoSy industrial project partners for all the support in presented work, pi4 robotics GmbH for the technical support in assembly scenario and Vorwig GmbH for establishing safety concepts ...
doi:10.22190/fuacr.v15i3.2359
fatcat:2deunrpmrrb4la6jmlz764ptf4
HUMAN-ROBOT SYNERGY FOR COOPERATIVE ROBOTS
2016
Facta Universitatis Series Automatic Control and Robotics
Preserved Fulltext
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(ELSI) in the context of human-robot cooperation. ...
The first scenario relates to the human-robot cooperation in an industrial application, while the second one refers to the robotic workplace assistance for people with disabilities. ...
The authors thank MeRoSy industrial project partners for all the support in presented work, pi4 robotics GmbH for the technical support in assembly scenario and Vorwig GmbH for establishing safety concepts ...
doi:10.22190/fuacr1603187k
fatcat:2mz5nfnrq5fbtbfzzbc4yqxd44
Prediction-Based Human-Robot Collaboration in Assembly Tasks Using a Learning from Demonstration Model
2022
Sensors
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This paper proposes a prediction-based human-robot collaboration model for assembly scenarios. ...
This model allows the robot to adapt itself to predicted human actions and enables proactive assistance during collaboration. ...
The human intention has to be converted into the equivalent robot control command for the collaboration. ...
doi:10.3390/s22114279
pmid:35684900
pmcid:PMC9185262
fatcat:oj2e3ibkq5hxlj3s54op5kz554
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