Disagreement-Aware Variable Impedance Control for Online Learning of Physical Human-Robot Cooperation Tasks

L.F. van der Spaa, G. Franzese, J. Kober, Michael Gienger

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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.
Original languageEnglish
Number of pages4
Publication statusPublished - 2022
EventWorkshop "Shared Autonomy in Physical Human-Robot Interaction: Adaptability and Trust" -
Duration: 23 May 202223 May 2022


WorkshopWorkshop "Shared Autonomy in Physical Human-Robot Interaction: Adaptability and Trust"

Bibliographical note

Workshop at ICRA 2022, May 22-27, 2022

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