Bio-inspired robot control for human-robot bi-manual manipulation

Stephen Warren, Panagiotis Artemiadis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

As robots are increasingly used in human-cluttered environments, the requirement of human-likeness in their movements becomes essential. Although robots perform a wide variety of demanding tasks around the world in factories, remote sites and dangerous environments, they are still lacking the ability to coordinate with humans in simple, every-day life bi-manual tasks, e.g. removing a jar lid. This paper focuses on the introduction of bio-inspired control schemes for robot arms that coordinate with human arms in bi-manual manipulation tasks. Using data captured from human subjects performing a variety of every-day bi-manual life tasks, we propose a bio-inspired controller for a robot arm, that is able to learn human inter- and intra-arm coordination during those tasks. We embed human arm coordination in low-dimension manifolds, and build potential fields that attract the robot to human-like configurations using the probability distributions of the recorded human data. The method is tested using a simulated robot arm that is identical in structure to the human arm. A preliminary evaluation of the approach is also carried out using an anthropomorphic robot arm in bi-manual manipulation task with a human subject.

Original languageEnglish (US)
Title of host publicationNonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Print)9780791856147
DOIs
StatePublished - Jan 1 2013
EventASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States
Duration: Oct 21 2013Oct 23 2013

Publication series

NameASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Volume3

Other

OtherASME 2013 Dynamic Systems and Control Conference, DSCC 2013
CountryUnited States
CityPalo Alto, CA
Period10/21/1310/23/13

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Warren, S., & Artemiadis, P. (2013). Bio-inspired robot control for human-robot bi-manual manipulation. In Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; [V003T45A001] (ASME 2013 Dynamic Systems and Control Conference, DSCC 2013; Vol. 3). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2013-3834