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Towards Progressive Automation of Repetitive Tasks Through Physical Human-Robot Interaction

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Human Friendly Robotics

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 7))

Abstract

In this paper, a novel method is developed that enables quick and easy programming in repetitive industrial tasks, through kinesthetic demonstration from the operator. The robot learns the task cycle with the assistance of haptic cues and progressively transitions from manual into autonomous operation using a novel variable stiffness control strategy and assistive virtual fixtures. The training process, requires a small amount of iterations, decreasing dramatically the typical robotic programming time. In the experimental evaluation, an operator is able to program a pick and place task in less than a minute, without requiring any interaction with a user interface or pre-programming of the task sequence.

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Notes

  1. 1.

    Video demonstration: https://youtu.be/1m185Z9y5JI.

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Acknowledgements

Fotios Dimeas is funded by “IKY Fellowships of Excellence for Postgraduate Studies in Greece—Siemens Program”.

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Authors and Affiliations

  1. Automation & Robotics Lab, Department of Electrical & Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece

    Fotios Dimeas, Filippos Fotiadis, Dimitrios Papageorgiou, Antonis Sidiropoulos & Zoe Doulgeri

Authors
  1. Fotios Dimeas
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  2. Filippos Fotiadis
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  3. Dimitrios Papageorgiou
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  4. Antonis Sidiropoulos
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  5. Zoe Doulgeri
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Corresponding author

Correspondence to Fotios Dimeas .

Editor information

Editors and Affiliations

  1. Dipartimento di Ingegneria Elettrica e Tecnologie dell’Informazione, Università degli Studi di Napoli Federico II, Napoli, Italy

    Fanny Ficuciello

  2. Dipartimento di Ingegneria Elettrica e Tecnologie dell’Informazione, Università degli Studi di Napoli Federico II, Napoli, Italy

    Fabio Ruggiero

  3. Dipartimento di Ingegneria Elettrica e Tecnologie dell’Informazione, Università degli Studi di Napoli Federico II, Napoli, Italy

    Alberto Finzi

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Dimeas, F., Fotiadis, F., Papageorgiou, D., Sidiropoulos, A., Doulgeri, Z. (2019). Towards Progressive Automation of Repetitive Tasks Through Physical Human-Robot Interaction. In: Ficuciello, F., Ruggiero, F., Finzi, A. (eds) Human Friendly Robotics. Springer Proceedings in Advanced Robotics, vol 7. Springer, Cham. https://doi.org/10.1007/978-3-319-89327-3_12

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