Skill Learning for Human-Robot Interaction Using Wearable Device

• 来源期刊: 清华大学学报自然科学版（英文版）
• 年，卷（期）: 2019,（6）
• 页码范围: 654-662
• 页数: 9页
• 语种: 英文
• DOI: 10.26599/TST.2018.9010096

摘要

With the accelerated aging of the global population and escalating labor costs,more service robots are needed to help people perform complex tasks.As such,human-robot interaction is a particularly important research topic.To effectively transfer human behavior skills to a robot,in this study,we conveyed skill-learning functions via our proposed wearable device.The robotic teleoperation system utilizes interactive demonstration via the wearable device by directly controlling the speed of the motors.We present a rotation-invariant dynamicalmovement-primitive method for learning interaction skills.We also conducted robotic teleoperation demonstrations and designed imitation learning experiments.The experimental human-robot interaction results confirm the effectiveness of the proposed method.