Interaction primitives for human-robot cooperation tasks

Hani Ben Amor, Gerhard Neumann, Sanket Kamthe, Oliver Kroemer, Jan Peters

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

72 Citations (Scopus)

Abstract

To engage in cooperative activities with human partners, robots have to possess basic interactive abilities and skills. However, programming such interactive skills is a challenging task, as each interaction partner can have different timing or an alternative way of executing movements. In this paper, we propose to learn interaction skills by observing how two humans engage in a similar task. To this end, we introduce a new representation called Interaction Primitives. Interaction primitives build on the framework of dynamic motor primitives (DMPs) by maintaining a distribution over the parameters of the DMP. With this distribution, we can learn the inherent correlations of cooperative activities which allow us to infer the behavior of the partner and to participate in the cooperation. We will provide algorithms for synchronizing and adapting the behavior of humans and robots during joint physical activities.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2831-2837
Number of pages7
DOIs
StatePublished - Sep 22 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
CountryChina
CityHong Kong
Period5/31/146/7/14

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Robots

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Ben Amor, H., Neumann, G., Kamthe, S., Kroemer, O., & Peters, J. (2014). Interaction primitives for human-robot cooperation tasks. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2831-2837). [6907265] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907265

Interaction primitives for human-robot cooperation tasks. / Ben Amor, Hani; Neumann, Gerhard; Kamthe, Sanket; Kroemer, Oliver; Peters, Jan.

Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2831-2837 6907265.

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

Ben Amor, H, Neumann, G, Kamthe, S, Kroemer, O & Peters, J 2014, Interaction primitives for human-robot cooperation tasks. in Proceedings - IEEE International Conference on Robotics and Automation., 6907265, Institute of Electrical and Electronics Engineers Inc., pp. 2831-2837, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 5/31/14. https://doi.org/10.1109/ICRA.2014.6907265
Ben Amor H, Neumann G, Kamthe S, Kroemer O, Peters J. Interaction primitives for human-robot cooperation tasks. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2831-2837. 6907265 https://doi.org/10.1109/ICRA.2014.6907265
Ben Amor, Hani ; Neumann, Gerhard ; Kamthe, Sanket ; Kroemer, Oliver ; Peters, Jan. / Interaction primitives for human-robot cooperation tasks. Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 2831-2837
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