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Kinesthetic Teaching Using Assisted Gravity Compensation for Model-Free Trajectory Generation in Confined Spaces

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Gearing Up and Accelerating Cross‐fertilization between Academic and Industrial Robotics Research in Europe:

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 94))

Abstract

The presented work approaches programming of redundant robots such as the KUKA Lightweight Robot IV in a co-worker scenario from a user-centered point of view. It specifically asks, how the user’s implicit knowledge about the scene and the task can be transferred effectively to the robot through kinesthetic teaching. It proposes a new method to visualize the implicit scene model conveyed by the user when teaching a respective inverse kinematics and measures generalization by the robot. Based on these insights and empirical results from a previously performed user study, the present study argues that physical guidance of a task in confined spaces with static obstacles is too difficult to achieve in a single interaction. Summarizing earlier results and putting them into context, it is shown how to assist users to remedy this issue. The key is to divide the process in an explicit configuration phase for teaching the implicit scene model and a subsequent already assisted programming phase to teach the task based on a particular assisted gravity compensation mode. Further results from the user study confirm that this renders kinesthetic teaching in confined spaces feasible and enables a flexible and fast reconfiguration of the robot.

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Author information

Authors and Affiliations

  1. Institute for Cognition and Robotics (CoR-Lab) and Faculty of Technology, Bielefeld University, Universitätsstr. 25, 33615, Bielefeld, Germany

    Jochen J. Steil, Christian Emmerich, Agnes Swadzba, Ricarda Grünberg, Arne Nordmann & Sebastian Wrede

  2. Research Group on Gender & Emotion, Faculty of Psychology, Bielefeld University, Universitätsstr. 25, 33615, Bielefeld, Germany

    Ricarda Grünberg

Authors
  1. Jochen J. Steil
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  2. Christian Emmerich
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  3. Agnes Swadzba
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  4. Ricarda Grünberg
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  5. Arne Nordmann
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  6. Sebastian Wrede
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Corresponding author

Correspondence to Jochen J. Steil .

Editor information

Editors and Affiliations

  1. Department of Informatics VI, Technical University of Munich, Garching, Germany

    Florian Röhrbein

  2. Feup Campus, Inesc Porto, Porto, Portugal

    Germano Veiga

  3. Department of Information Engineering, Second University of Naples, Aversa, Italy

    Ciro Natale

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Steil, J.J., Emmerich, C., Swadzba, A., Grünberg, R., Nordmann, A., Wrede, S. (2014). Kinesthetic Teaching Using Assisted Gravity Compensation for Model-Free Trajectory Generation in Confined Spaces. In: Röhrbein, F., Veiga, G., Natale, C. (eds) Gearing Up and Accelerating Cross‐fertilization between Academic and Industrial Robotics Research in Europe:. Springer Tracts in Advanced Robotics, vol 94. Springer, Cham. https://doi.org/10.1007/978-3-319-03838-4_6

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  • DOI: https://doi.org/10.1007/978-3-319-03838-4_6

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03837-7

  • Online ISBN: 978-3-319-03838-4

  • eBook Packages: EngineeringEngineering (R0)

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