A user study on kinesthetic teaching of redundant robots in task and configuration space
A user study on kinesthetic teaching of redundant robots in task and configuration space
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任务和配置空间中冗余机器人动觉教学的用户研究
DOI：
10.5898/jhri.2.1.wrede
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Jochen J. Steil
中科院分区：
文献类型：
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作者：
S. Wrede;C. Emmerich;Ricarda Grünberg;Arne Nordmann;Agnes Swadzba;Jochen J. Steil
最近出现的柔顺和运动冗余度机器人为人-机器人交互提出了新的研究挑战。虽然这些机器人为复杂应用的实现提供了很大程度的灵活性，但获得的灵活性导致需要额外的建模步骤和定义冗余解决标准，以约束机器人的运动生成。这种标准的显式建模通常需要专家调整机器人的运动生成子系统。解决这种构型挑战的一种典型方法是利用动觉教学，引导机器人隐含地对任务和构形空间中的特定约束进行建模。我们认为，目前的演示编程方法对于冗余机器人的动觉教学并不有效，并表明典型的讲授过程对于新手用户来说太复杂了。为了使非专家能够在受限空间等非平凡约束条件下掌握冗余度机器人的配置和编程，我们提出了一种新的交互方案，该方案在一个集成的系统架构中结合了动觉教和学。我们在对中型制造公司Harting的49名产业工人进行的用户研究中评估了这种方法。结果表明，在KUKA轻量级机器人IV上实现的交互概念对于初学者来说是易于操作的，论证了在位形空间进行隐式约束建模的动觉教学的可行性，并显著提高了任务空间中轨迹的传授性能。
The recent advent of compliant and kinematically redundant robots poses new research challenges for human-robot interaction. While these robots provide a great degree of flexibility for the realization of complex applications, the flexibility gained generates the need for additional modeling steps and definition of criteria for redundancy resolution constraining the robot's movement generation. The explicit modeling of such criteria usually require experts to adapt the robot's movement generation subsystem. A typical way of dealing with this configuration challenge is to utilize kinesthetic teaching by guiding the robot to implicitly model the specific constraints in task and configuration space. We argue that current programming-by-demonstration approaches are not efficient for kinesthetic teaching of redundant robots and show that typical teach-in procedures are too complex for novice users. In order to enable non-experts to master the configuration and programming of a redundant robot in the presence of non-trivial constraints such as confined spaces, we propose a new interaction scheme combining kinesthetic teaching and learning within an integrated system architecture. We evaluated this approach in a user study with 49 industrial workers at HARTING, a medium-sized manufacturing company. The results show that the interaction concepts implemented on a KUKA Lightweight Robot IV are easy to handle for novice users, demonstrate the feasibility of kinesthetic teaching for implicit constraint modeling in configuration space, and yield significantly improved performance for the teach-in of trajectories in task space.