Upper-body Kinesthetic Teaching of a Free-standing Humanoid Robot

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Title: Upper-body Kinesthetic Teaching of a Free-standing Humanoid Robot
Authors: Kormushev, P
Nenchev, DN
Calinon, S
Caldwell, DG
Item Type: Conference Paper
Abstract: We present an integrated approach allowing a free-standing humanoid robot to acquire new motor skills by kinesthetic teaching. The proposed method controls simultaneously the upper and lower body of the robot with different control strategies. Imitation learning is used for training the upper body of the humanoid robot via kinesthetic teaching, while at the same time Reaction Null Space method is used for keeping the balance of the robot. During demonstration, a force/torque sensor is used to record the exerted forces, and during reproduction, we use a hybrid position/force controller to apply the learned trajectories in terms of positions and forces to the end effector. The proposed method is tested on a 25-DOF Fujitsu HOAP-2 humanoid robot with a surface cleaning task. © 2011 IEEE.
Issue Date: 9-May-2011
Date of Acceptance: 9-May-2011
URI: http://hdl.handle.net/10044/1/26063
DOI: https://dx.doi.org/10.1109/ICRA.2011.5979537
ISBN: 978-1-61284-386-5
ISSN: 1050-4729
Publisher: IEEE
Start Page: 3970
End Page: 3975
Journal / Book Title: Proc. IEEE Intl Conf. on Robotics and Automation (ICRA)
Copyright Statement: © 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Conference Name: 2011 IEEE International Conference on Robotics and Automation (ICRA)
Publication Status: Published
Publisher URL: http://kormushev.com/papers/Kormushev_ICRA_2011.pdf
Start Date: 2011-05-09
Finish Date: 2011-05-13
Conference Place: Shanghai
Appears in Collections:Dyson School of Design Engineering



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