Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedBT2 Fenix 2 Wednesday, October 10, 2012, 09:30–10:30
Physical Human-Robot Interaction II
Chair Yasuhisa Hirata, Tohoku Univ.
Co-Chair Dongheui Lee, Tech. Univ. of Munich
09:30–09:45 WedBT2.1
Human-Humanoid Haptic Joint Transportation
Case Study
Antoine Bussy André Crosnier
Université Montpellier 2-CNRS LIRMM, France
Abderrahmane Kheddar François Keith
CNRS-AIST Joint Robotics Laboratory, Japan
• Study of a Human-Human Joint
Transportation Task
• Task Decomposition in Motion Primitives
to estimate the leader's intentions
• Trajectory-based Impedance Control
• Experiments with our humanoid robot
HRP2 to assess our approach
HRP2 carrying a table with a
human partner
10:00–10:15 WedBT2.3
Feedback Motion Planning and Learning from
Demonstration in Physical Robotic Assistance:
Differences and Synergies
Martin Lawitzky Jose Ramon Medina
Dongheui Lee Sandra Hirche
Institute of Automatic Control Engineering
Technische Universität München, Germany
• Goal-directed physical assistance behavior
generated through
• Feedback Motion Planning (SNG)
• Learning from Demonstration (tHMM)
• Is exploitation of complementary strengths
possible through fusion?
• Three fusion methods proposed:
• Hierarchical multi-criterion optimization
• Virtual demonstration from planning
• Uncertainty-based blending
• Evaluation in 2-DoF VR and in 6-DoF on
highly integrated mobile manipulator
• Fusion outperforms individual algorithms
09:45–10:00 WedBT2.2
Disagreement-Aware Physical Assistance
Through Risk-Sensitive Optimal Feedback
Control
J.R. Medina, T. Lorenz, D. Lee and S. Hirche
Institute of Automatic Control Engineering
Technische Universität München, Germany
• Goal: intuitive proactive physical robotic
assistance � requires human haptic
behavior model for anticipation
• Challenge: robot predictions might
disagree with real human intentions
• Method: probabilistic model based
anticipation using risk –sensitive control
with online disagreement estimation
• Result: adaptive robot role allocation
depending on estimated disagreement and
prediction uncertainty. Psychological
experiments indicate higher helpfulness
and decreased human effort.
10:15–10:30 WedBT2.4
IEEE/RSJ IROS 2012 Digest Template
Paper Title in One or Two Lines
Han Pang Huang*, Tzu-Hao Huang, Ching-An Cheng,
Jiun-Yih Kuan, Po-Ting Lee, Shih-Yi Huang
Department of Mechanical Engineering, National Taiwan University, Taiwan
• Design concept of BTSA: backdrivable
torsion spring actuator is constructed
using a simple torsion spring, bevel gears,
and an actuator.
• A human-robot interaction model is
proposed to investigate the dynamic
properties of the system.
• Hybrid control that switches between
direct EMG biofeedback control and
zero impedance control is proposed to
provide a new rehabilitation training and
walking assistance mechanism for
rehabilitation.
• Both simulations and experiments are
conducted to show some desired
properties of the proposed BTSA and
hybrid control system.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–130–
Design Concept of BTSA &
Hybrid Control of direct EMG
biofeedback control and zero
impedance control