Programming by Demonstration Using the Teleimpedance Control Scheme: Verification by an sEMG-Controlled Ball-Trapping Robot

Neural approximation-based adaptive variable impedance control of robots

“…Compared with constant-impedance controllers, variable impedance control allows variation of the desired stiffness and the desired damping in continuous manner during tasks, and gives more flexibility and more abilities to robots in completion of complex tasks. The benefits of variable impedance have been explored through imitation of human impedance (Ajoudani, 2012; Howard et al, 2013; Yang et al, 2019), reinforcement learning (Buchli et al, 2011) and demonstration (Ficuciello et al, 2015; Park et al, 2019).…”

Robot Variable Impedance Skill Transfer and Learning Framework Based on a Simplified Human Arm Impedance Model

“…The sEMG signals are widely used in joint angle estimation [23] and kinematic signal predictions [24] and human-machine interaction [25], thereby attracting an extensive application; on the other hand, sEMG signals can also conveniently estimate the arm impedance parameters online. Although some demonstration methods with auxiliary equipment can conveniently provide force feedback, those methods that use only visual signals show highly flexible application and can use the human's visual feedback on the change of task state to supplement the deficiency of force feedback to some extent [26].…”

Online Learning and Teaching of Emergent Behaviors in Multi-Robot Teams

“…Most of the problems above can use solutions such as the Program by Demonstration (PbD) approach. Program by Demonstration is a technique used to teach robots new behaviors by demonstrating the task instead of reprogramming the robot by machine commands [13], [14]. The technique can be used both to learn how to perform a task done by a human or by a robot.…”

“…A recent example is the work of Park et al [14]. The authors address the problem associated with path planning and impedance control that allows robots to manipulate physical interactions delicately.…”

“…They proposed a path and impedance planning method for impedance control in a robot based on programming by demonstration through telemanipulation using a surface electromyogram. Park et al [14] considered a task that requires quick and precise adjustment of path and impedance, that is, ball trapping. They implemented a teleoperated robot that can deliver an operator's impedance as well as a position during the ball trapping task to the slave side.…”