Kinesthetic teaching is a viable solution for programming robots in the execution of new tasks thanks to the human-mediated mapping between the task objectives and the robot joint space. Redundant designs and differences from human kinematics pose challenges in the efficient execution of the teaching task. In this work we employ vibrotactile feedback letting operators understand specific kinematic constraints such as reaching joint limits and singularities. The experimentation with a Baxter robot and a four-motor vibrotactile bracelet is reported showing the effectiveness of the proposed enhancement to the kinesthetic teaching task.
Vibrotactile feedback for aiding robot kinesthetic teaching of manipulation tasks / Ruffaldi, Emanuele; Di Fava, Alessandro; Loconsole, Claudio; Frisoli, Antonio; Avizzano, Carlo A.. - (2017), pp. 818-823. (Intervento presentato al convegno 26th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2017 tenutosi a Lisbon, Portugal nel August 28 - September 1, 2017) [10.1109/ROMAN.2017.8172397].
Vibrotactile feedback for aiding robot kinesthetic teaching of manipulation tasks
Loconsole, Claudio;
2017-01-01
Abstract
Kinesthetic teaching is a viable solution for programming robots in the execution of new tasks thanks to the human-mediated mapping between the task objectives and the robot joint space. Redundant designs and differences from human kinematics pose challenges in the efficient execution of the teaching task. In this work we employ vibrotactile feedback letting operators understand specific kinematic constraints such as reaching joint limits and singularities. The experimentation with a Baxter robot and a four-motor vibrotactile bracelet is reported showing the effectiveness of the proposed enhancement to the kinesthetic teaching task.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
