Disagreement-Aware Variable Impedance Control for Online Learning of Physical Human-Robot Cooperation Tasks

Conference paper (2022)

Authors

L.F. van der Spaa Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering , Honda Research Institute Europe GmbH
G. Franzese Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering
J. Kober Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering
Michael Gienger Honda Research Institute Europe GmbH
Research Group
Learning & Autonomous Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 L.F. van der Spaa, G. Franzese, J. Kober, Michael Gienger
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Published Date

2022

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Learning & Autonomous Control

Abstract

In order to make the coexistence between humans and robots a reality, we must understand how they may cooperate more effectively. Modern robots, empowered with reliable controls and advanced machine learning reasoning can face this challenge. In this article, we presented a Disagreement- Aware Variable Impedance (DAVI) Controller, where the robot stiffness is regulated as a function of the perceived disagreement with the human cooperator. We tested the algorithm on a 7 DoF Franka Emika Panda robot performing the learning of a pick&place task with continuous adaptation of the goal location and the via-points with human interactive corrections, triggered by our proposed approach. A validation study was conducted with 5 users in order to understand the reliability of the method.