ILoSA: Interactive Learning of Stiffness and Attractors

03/04/2021
by   Giovanni Franzese, et al.
0

Teaching robots how to apply forces according to our preferences is still an open challenge that has to be tackled from multiple engineering perspectives. This paper studies how to learn variable impedance policies where both the Cartesian stiffness and the attractor can be learned from human demonstrations and corrections with a user-friendly interface. The presented framework, named ILoSA, uses Gaussian Processes for policy learning, identifying regions of uncertainty and allowing interactive corrections, stiffness modulation and active disturbance rejection. The experimental evaluation of the framework is carried out on a Franka-Emika Panda in three separate cases with unique force interaction properties: 1) pulling a plug wherein a sudden force discontinuity occurs upon successful removal of the plug, 2) pushing a box where a sustained force is required to keep the robot in motion, and 3) wiping a whiteboard in which the force is applied perpendicular to the direction of movement.

READ FULL TEXT

page 5

page 6

page 7

research
10/09/2021

Teaching Robots to Grasp Like Humans: An Interactive Approach

This work investigates how the intricate task of grasping may be learned...
research
01/22/2023

Immersive Demonstrations are the Key to Imitation Learning

Achieving successful robotic manipulation is an essential step towards r...
research
05/11/2018

Learning Movement Assessment Primitives for Force Interaction Skills

We present a novel, reusable and task-agnostic primitive for assessing t...
research
03/28/2022

A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks with Mobile Manipulators

This paper proposes a hybrid learning and optimization framework for mob...
research
10/28/2022

Interactive Imitation Learning of Bimanual Movement Primitives

Performing bimanual tasks with dual robotic setups can drastically incre...
research
08/15/2022

Model Predictive Impedance Control with Gaussian Processes for Human and Environment Interaction

In tasks where the goal or configuration varies between iterations, huma...
research
09/01/2022

Design and Development of a Tracked Inspection Robot

This paper presents the examination of the clever Differential with thre...

Please sign up or login with your details

Forgot password? Click here to reset