期刊
TSINGHUA SCIENCE AND TECHNOLOGY
卷 24, 期 6, 页码 654-662出版社
TSINGHUA UNIV PRESS
DOI: 10.26599/TST.2018.9010096
关键词
skill learning; interaction; teleoperation; dynamical movement primitive
类别
资金
- National Natural Science Foundation of China [61503212, 61473089, U1613212, 61327809]
- Beijing Science and Technology Program [Z171100000817007]
- German Research Foundation (DFG) [NSFC 61621136008/DFG TRR-169]
- Suzhou Special Program [2016SZ0219]
With the accelerated aging of the global population and escalating labor costs, more service robots are needed to help people perform complex tasks. As such, human-robot interaction is a particularly important research topic. To effectively transfer human behavior skills to a robot, in this study, we conveyed skill-learning functions via our proposed wearable device. The robotic teleoperation system utilizes interactive demonstration via the wearable device by directly controlling the speed of the motors. We present a rotation-invariant dynamical-movement-primitive method for learning interaction skills. We also conducted robotic teleoperation demonstrations and designed imitation learning experiments. The experimental human-robot interaction results confirm the effectiveness of the proposed method.
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