Upper-body kinesthetic teaching of a free-standing humanoid robot

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 o...

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Bibliographic Details
Published in2011 IEEE International Conference on Robotics and Automation pp. 3970 - 3975
Main Authors Kormushev, Petar, Nenchev, Dragomir N., Calinon, Sylvain, Caldwell, Darwin G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2011
Subjects
Education
Force
Humanoid robots
Robot sensing systems
Torque
Trajectory
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Summary: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.
ISBN:9781612843865
1612843867
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2011.5979537