Title :
Towards automatic transfer of human skills for robotic assembly
Author :
Newman, Wyatt ; Birkhimer, Craig ; Hebbar, Ravi
Author_Institution :
EECS Dept., Case Western Reserve Univ., Cleveland, OH, USA
Abstract :
Progress towards programming by demonstration for robotic assembly is presented, advocating the use of virtual impedance and virtual attractor trajectories as a means of encoding atomic behaviors. Switching among behaviors is invoked by recognition of events. Evidence is presented for associating these events with transients, such as impacts. The approach is shown to lead to robot skills that are fast, gentle and reliable.
Keywords :
man-machine systems; robot programming; robotic assembly; automatic transfer; encoding atomic behaviors; human skills; programming; robot skills; robotic assembly; switching; transients; virtual attractor trajectory; virtual impedance; Assembly systems; Encoding; Humans; Impedance; Robot control; Robot programming; Robot sensing systems; Robotic assembly; Robustness; Sliding mode control;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249250
