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Rapid Prototyping of Planning, Learning and Control in Physical Human-Robot Interaction

  • Chapter
Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 88))

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Abstract

Physical human-robot interaction (pHRI) is a highly challenging research topic: it requires real-time decision making capabilities by the robot; it involves the human as a source of uncertainty in the coupled dynamical system; and the quality of interaction cannot be evaluated by classical objective measures only but requires psychological experiments. Here we propose a rapid prototyping system in order to develop and evaluate methods for planning, learning, and control enabling pro-active and goal-directed physical robotic assistance to the human. With this rapid prototyping system we are able to quantify the benefits of two novel methods that combine feedback planning and learning from demonstration in a cooperative load-transport task.

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Authors and Affiliations

  1. Institute for Information-Oriented Control, Technische Universität München, Munich, Germany

    Martin Lawitzky, José Ramón Medina Hernández & Sandra Hirche

Authors
  1. Martin Lawitzky
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  2. José Ramón Medina Hernández
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  3. Sandra Hirche
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Corresponding author

Correspondence to Martin Lawitzky .

Editor information

Editors and Affiliations

  1. (RAMS) Institute for Systems Research, Maryland Robotics Center, University of Maryland, Room 0160, Bldg 088, Glenn L. Martin Hall, College Park, 20742, Maryland, USA

    Jaydev P. Desai

  2. , Centre for Intelligent Machines, McGill University, Room 419, 3480 University Street, Montreal, H3A 2A7, Québec, Canada

    Gregory Dudek

  3. , Department of Computer Science, Stanford University, Stanford, 94305-9010, California, USA

    Oussama Khatib

  4. , School of Engineering & Applied Science, University of Pennsylvania, 107 Towne Building, 220 South 33rd Street, Philadelphia, 19104-6391, Pennsylvania, USA

    Vijay Kumar

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Lawitzky, M., Hernández, J.R.M., Hirche, S. (2013). Rapid Prototyping of Planning, Learning and Control in Physical Human-Robot Interaction. In: Desai, J., Dudek, G., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 88. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00065-7_6

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  • DOI: https://doi.org/10.1007/978-3-319-00065-7_6

  • Publisher Name: Springer, Heidelberg

  • Print ISBN: 978-3-319-00064-0

  • Online ISBN: 978-3-319-00065-7

  • eBook Packages: EngineeringEngineering (R0)

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