Shared Autonomy via Variable Impedance Control and Virtual Potential Fields for Encoding Human Demonstration
CoRR(2024)
摘要
This article introduces a framework for complex human-robot collaboration
tasks, such as the co-manufacturing of furniture. For these tasks, it is
essential to encode tasks from human demonstration and reproduce these skills
in a compliant and safe manner. Therefore, two key components are addressed in
this work: motion generation and shared autonomy. We propose a motion generator
based on a time-invariant potential field, capable of encoding wrench profiles,
complex and closed-loop trajectories, and additionally incorporates obstacle
avoidance. Additionally, the paper addresses shared autonomy (SA) which enables
synergetic collaboration between human operators and robots by dynamically
allocating authority. Variable impedance control (VIC) and force control are
employed, where impedance and wrench are adapted based on the human-robot
autonomy factor derived from interaction forces. System passivity is ensured by
an energy-tank based task passivation strategy. The framework's efficacy is
validated through simulations and an experimental study employing a Franka
Emika Research 3 robot.
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