Abstract:Robot operation requires a succinct interface with fewer parameters to specify. This paper presents an algorithm to interface an integrated torque control law, and human task demonstration data. The data is comprised of 6 degrees of freedom, pendant force and position data, and hand posture tracking data. The aim is to automatically specify all the required parameters for the control law, which include constrained and non-constrained trajectories, reference task frames and distal end compliance. The algorithm … Show more
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.