Mimetic communication with impedance control for physical human-robot interaction

Authors:
Dongheui Lee;Christian Ott;Yoshihiko Nakamura
Affiliations:
Department of Mechano-Informatics and IRT Research Initiative, University of Tokyo, Tokyo, Japan;Department of Mechano-Informatics and IRT Research Initiative, University of Tokyo, Tokyo, Japan;Department of Mechano-Informatics and IRT Research Initiative, University of Tokyo, Tokyo, Japan
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

In this paper, mimetic communication is extended to human-robot interaction tasks, in which physical contact transitions must be handled. The mimetic communication consists of imitation learning for learning low level motion primitives and a higher level interaction learning stage in which also the information about the human-robot contacts is included. For the imitation learning, Cartesian marker data from a motion capture system is used. A modification of the low level marker trajectory following algorithm is presented, which allows to reshape the trajectory of the motion primitive in accordance with the human hand motion in real-time. Moreover, for performing safe contact motion, an appropriate impedance controller is integrated into the setting. All the presented concepts are evaluated in experiments with a humanoid robot.