标题：Task Space Torque Profile Adaptations for Dynamical Human-Robot Motion Transfer
参考译名： 用于动态机器人运动传递的任务空间扭矩曲线自适应
简介：Motion transfer from a human to a robot implies accurate tracking of desired, demonstrated trajectories. However, direct imitation of joint position trajectories might not result in similar behavior of the robot and the human, because they have different kinematic and dynamic properties, i.e., different embodiment. To avoid the correspondence problem, the demonstrated trajectories need to be somehow adapted. In this paper we go beyond simple imitation, but we show how the torque profiles that should execute the demonstrated position trajectories are being learned in a manner that preserves the correspondence. Thus, position trajectories are modified from the demonstration and, furthermore, the robot executes the motion that preserves correspondence in a compliant manner. Because it is compliant, the robot is safer for the nearby person or environment, as potential unforeseen collisions will result in lower impact forces. We show the results of motion transfer of squatting from a human to a simulated CoMaN humanoid robot.
来源：出处：《Advances in Service and Industrial Robotics: Proceedings of the 27th International Conference on Robotics in Alpe-Adria Danube Region (RAAD 2018)》 年：2019 44～52 总页数：9 会议：International Conference on Robotics in Alpe-Adria-Danube Region 举办地：Patras 日期：2018-06-06 届次：27th 语种：英语 分类号：TP24-53 ISBN：9783030002312
链接：http://pan.ckcest.cn/rcservice//doc?doc_id=39163
