In order to make the coexistence between humans and robots a reality, we must understand how they may cooperate more effectively. Modern robots, empowered with reliable controls and advanced machine learning reasoning can face this challenge. In this article, we presented a Disagreement- Aware Variable Impedance (DAVI) Controller, where the robot stiffness is regulated as a function of the perceived disagreement with the human cooperator. We tested the algorithm on a 7 DoF Franka Emika Panda robot performing the learning of a pick&place task with continuous adaptation of the goal location and the via-points with human interactive corrections, triggered by our proposed approach. A validation study was conducted with 5 users in order to understand the reliability of the method.
|Number of pages||4|
|Publication status||Published - 2022|
|Event||Workshop "Shared Autonomy in Physical Human-Robot Interaction: Adaptability and Trust" - |
Duration: 23 May 2022 → 23 May 2022
|Workshop||Workshop "Shared Autonomy in Physical Human-Robot Interaction: Adaptability and Trust"|
|Period||23/05/22 → 23/05/22|