Teaching robots to cooperate with humans in dynamic manipulation tasks based on multi-modal human-in-the-loop approach

Due to copyright restrictions, the access to the full text of this article is only available via subscription.We propose an approach to efficiently teach robots how to perform dynamic anipulation tasks in cooperation with a human partner. The approach utilises human sensorimotor learning ability where the human tutor controls the robot through a multi-modal interface to make it perform the desired task. During the tutoring, the robot simultaneously learns the action policy of the tutor and through time gains full autonomy. We demonstrate our approach by an experiment where we taught a robot how to perform a wood sawing task with a human partner using a two-person crosscut saw. The challenge of this experiment is that it requires precise coordination of the robot’s motion and complianceaccording to the partner’s actions. To transfer the sawing skill from the tutor to the robot we used Locally Weighted Regression for trajectory generalisation, and adaptive oscillators for adaptation of the robot to the partner’s motion.Slovenian Research Agency ; Slovenian Ministry of Higher Education, Science and Technology