Robot learning human stiffness regulation for hybrid manufacture

Author:

Zeng Chao,Yang Chenguang,Chen Zhaopeng,Dai Shi-Lu

Abstract

Purpose Teaching by demonstration (TbD) is a promising way for robot learning skills in human and robot collaborative hybrid manufacturing lines. Traditionally, TbD systems have only concentrated on how to enable robots to learn movement skills from humans. This paper aims to develop an extended TbD system which can also enable learning stiffness regulation strategies from humans. Design/methodology/approach Here, the authors propose an extended dynamical motor primitives (DMP) framework to achieve this goal. In addition to the advantages of the traditional ones, the authors’ framework can enable robots to simultaneously learn stiffness and the movement from human demonstrations. Additionally, Gaussian mixture model (GMM) is used to capture the features of movement and of stiffness from multiple demonstrations of the same skill. Human limb surface electromyography (sEMG) signals are estimated to obtain the reference stiffness profiles. Findings The authors have experimentally demonstrated the effectiveness of the proposed framework. It shows that the authors approach could allow the robot to execute tasks in a variable impedance control mode with the learned movement trajectories and stiffness profiles. Originality/value In robot skill acquisition, DMP is widely used to encode robotic behaviors. So far, however, these DMP modes do not provide the ability to properly represent and generalize stiffness profiles. The authors argue that both movement trajectories and stiffness profiles should be considered equally in robot skill learning. The authors’ approach has great potential of applications in the future hybrid manufacturing lines.

Publisher

Emerald

Subject

Industrial and Manufacturing Engineering,Control and Systems Engineering

Cited by 26 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Robot Learning Method for Human-like Arm Skills Based on the Hybrid Primitive Framework;Sensors;2024-06-19

2. Robotics Perception and Control: Key Technologies and Applications;Micromachines;2024-04-15

3. Boosting visual servoing performance through RGB-based methods;Robotic Intelligence and Automation;2023-07-13

4. Multi-link mechanism-inspired palletizing manipulator: Design, optimization and experimental results;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2023-06-21

5. Robot learning towards smart robotic manufacturing: A review;Robotics and Computer-Integrated Manufacturing;2022-10

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3