Inferring guidance information in cooperative human-robot tasks

Erik Berger, David Vogt, Nooshin Haji-Ghassemi, Bernhard Jung, Heni Ben Amor

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

9 Scopus citations

Abstract

In many cooperative tasks between a human and a robotic assistant, the human guides the robot by exerting forces, either through direct physical interaction or indirectly via a jointly manipulated object. These physical forces perturb the robot's behavior execution and need to be compensated for in order to successfully complete such tasks. Typically, this problem is tackled by means of special purpose force sensors which are, however, not available on many robotic platforms. In contrast, we propose a machine learning approach based on sensor data, such as accelerometer and pressure sensor information. In the training phase, a statistical model of behavior execution is learned that combines Gaussian Process Regression with a novel periodic kernel. During behavior execution, predictions from the statistical model are continuously compared with stability parameters derived from current sensor readings. Differences between predicted and measured values exceeding the variance of the statistical model are interpreted as guidance information and used to adapt the robot's behavior. Several examples of cooperative tasks between a human and a humanoid NAO robot demonstrate the feasibility of our approach.

Original languageEnglish (US)
Title of host publication2013 13th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2013
PublisherIEEE Computer Society
Pages124-129
Number of pages6
EditionFebruary
ISBN (Electronic)9781479926176
DOIs
StatePublished - Feb 3 2015
Event2013 13th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2013 - Atlanta, United States
Duration: Oct 15 2013Oct 17 2013

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
NumberFebruary
Volume2015-February
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Other

Other2013 13th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2013
CountryUnited States
CityAtlanta
Period10/15/1310/17/13

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Berger, E., Vogt, D., Haji-Ghassemi, N., Jung, B., & Amor, H. B. (2015). Inferring guidance information in cooperative human-robot tasks. In 2013 13th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2013 (February ed., pp. 124-129). [7029966] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2015-February, No. February). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2013.7029966