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dc.contributor.authorPeternel, L.
dc.contributor.authorPetric, T.
dc.contributor.authorÖztop, Erhan
dc.contributor.authorBabic, J.
dc.date.accessioned2014-05-27T08:40:54Z
dc.date.available2014-05-27T08:40:54Z
dc.date.issued2014-01
dc.identifier.issn1573-7527
dc.identifier.urihttp://hdl.handle.net/10679/359
dc.identifier.urihttp://link.springer.com/article/10.1007/s10514-013-9361-0
dc.descriptionDue to copyright restrictions, the access to the full text of this article is only available via subscription.en_US
dc.description.abstractWe propose an approach to efficiently teach robots how to perform dynamic anipulation tasks in cooperation with a human partner. The approach utilises human sensorimotor learning ability where the human tutor controls the robot through a multi-modal interface to make it perform the desired task. During the tutoring, the robot simultaneously learns the action policy of the tutor and through time gains full autonomy. We demonstrate our approach by an experiment where we taught a robot how to perform a wood sawing task with a human partner using a two-person crosscut saw. The challenge of this experiment is that it requires precise coordination of the robot’s motion and complianceaccording to the partner’s actions. To transfer the sawing skill from the tutor to the robot we used Locally Weighted Regression for trajectory generalisation, and adaptive oscillators for adaptation of the robot to the partner’s motion.en_US
dc.description.sponsorshipSlovenian Research Agency ; Slovenian Ministry of Higher Education, Science and Technology.
dc.language.isoengen_US
dc.publisherSpringer Science+Business Mediaen_US
dc.relation.ispartofAutonomous Robots
dc.rightsrestrictedAccess
dc.titleTeaching robots to cooperate with humans in dynamic manipulation tasks based on multi-modal human-in-the-loop approachen_US
dc.typeArticleen_US
dc.peerreviewedyesen_US
dc.publicationstatuspublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0002-3051-6038 & YÖK ID 45227) Öztop, Erhan
dc.contributor.ozuauthorÖztop, Erhan
dc.identifier.volume36
dc.identifier.issue1-2
dc.identifier.startpage123
dc.identifier.endpage136
dc.identifier.wosWOS:000329294800010
dc.identifier.doi10.1007/s10514-013-9361-0
dc.subject.keywordsHuman–robot interactionen_US
dc.subject.keywordsSensorimotor learningen_US
dc.subject.keywordsTeleoperationen_US
dc.subject.keywordsImpedance control ·en_US
dc.subject.keywordsAdaptive oscillatoren_US
dc.identifier.scopusSCOPUS:2-s2.0-84891839491
dc.contributor.authorMale1


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