Learning of human-robot cooperative transportation
This video shows the experimental results of a learning approach in human-robot cooperative transportation task.Demonstration phase
- The robot is kinesthetically guided by a human teacher, who shows the robot its collaborative behavior while transporting an object with its human partner.
- Note that different starting and target locations of the object are set across demonstrations, which allows the robot to generalize to new positions during reproduction by exploiting a task-parametrized formulation of Gaussian mixture model.
- Notice that the teacher shows the robot not only the trajectory to follow (given the start and target positions), but also the force needed to be applied to the object.
- Once the robot has learned the task, it is able to carry out the collaborative skill with the user successfully. The robot is able to handle both position and force constraints of the task.
- Three different reproductions are shown. The first and second reproductions display two executions of the task with different start and target locations of the object. The third reproduction shows the robot's behavior when the human partner applies a different force to those sensed during the demonstration phase. Note that the robot adapts to these force perturbations while still following a similar path to the desired trajectory.
- All reproductions are followed by an animation showing the Gaussian components of the task-parametrized model, the trajectory followed by the robot and the attractor path. Also, we can observe three different projections of the resulting trajectories and the applied force during the reproduction.