Bilateral physical interaction with a robot manipulator through a weighted combination of flow fields

@article{Pistillo2011BilateralPI,
  title={Bilateral physical interaction with a robot manipulator through a weighted combination of flow fields},
  author={Antonio Pistillo and Sylvain Calinon and Darwin G. Caldwell},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={3047-3052}
}
When collaboration between human users and robots involves physical interaction, the importance of the safety issue arises. We propose a method to transfer to robots several tasks demonstrated by the user through kinesthetic teaching and subsequently learned using a weighted combination of dynamical systems (DS). The approach used to encode the desired skills ensures a safe robot behavior during the task reproduction, allowing physical interaction with the user who can employ the manipulator as… CONTINUE READING
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