Utilization of human sensorimotor learning capacity for obtaining novel robot behaviours: 2-DOF ball balancing on a parallel platform

We propose a novel method for acquiring robot skill synthesis that exploits human capability to learn and to control complex tools and devices. The basic idea is to consider the target robotic system as a complex tool akin a computer mouse or a car that can be intuitively controlled by a human. Once the human learns how to control the robotic system effortlessly, the target behaviour can be obtained by the human on the robot through practice. The successful execution of the desired task by the human via the robot implies that the required control commands have been discovered by the human, and can subsequently be used for designing controller that operate autonomously. In this article, we demonstrate this idea by presenting a 2-DOF ball balancing task on a parallel platform obtained with the proposed method.