Teaching nullspace constraints in physical human-robot interaction using Reservoir Computing

@article{Nordmann2012TeachingNC,
  title={Teaching nullspace constraints in physical human-robot interaction using Reservoir Computing},
  author={Arne Nordmann and Christian Emmerich and Stefan R{\"u}ther and Andre Lemme and Sebastian Wrede and Jochen J. Steil},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={1868-1875}
}
A major goal of current robotics research is to enable robots to become co-workers that collaborate with humans efficiently and adapt to changing environments or workflows. We present an approach utilizing the physical interaction capabilities of compliant robots with data-driven and model-free learning in a coherent system in order to make fast reconfiguration of redundant robots feasible. Users with no particular robotics knowledge can perform this task in physical interaction with the… CONTINUE READING

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