Task geometry aware assistance for kinesthetic teaching of redundant robots
Dimitrios Papageorgiou,Sotiris Stavridis,Christos Papakonstantinou,Zoe Doulgeri,Dimitrios Papageorgiou,Sotiris Stavridis,Christos Papakonstantinou,Zoe Doulgeri
Kinesthetic teaching allows the direct skill transfer from the human to the robot through physical human-robot interaction. However, it is heavily affected by the robot’s dynamics and the control scheme utilized for the physical interaction. In this work, we aim at assisting the human-teacher by reducing her/his physical and cognitive load. To this aim, we propose a controller with virtual fixture...
