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This article combines programming by demon- stration and adaptive control for teaching a robot to physically interact with a human in a collaborative task requiring sharing of a load by the two partners. Learning a task model allows the robot to anticipate the partnerís intentions and adapt its motion according to perceived forces. As the human represents a highly complex contact environment, direct reproduction of the learned model may lead to sub-optimal results. To compen- sate for unmodelled uncertainties, in addition to learning we propose an adaptive control algorithm that tunes the impedance parameters, so as to ensure accurate reproduction. To facilitate the illustration of the concepts introduced in this paper and provide a systematic evaluation, we present experimental results obtained with simulation of a dyad of two planar 2-DOF robots.

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Last update: 25/08/06