Learning of a collaborative manipulation skill with HRP-2 by showing multiple demonstrations of the skill in slightly different situations (different initial position and orientation of the object). The robot is standing in an half-sitting posture during the experiment, where the 7 DOFs of the right arm and torso are used in the experiment. A built-in stereoscopic vision is used to track colored patches, and a 6-axes force sensor at the level of the right wrist is used to track the interaction forces with the environment during task execution. The robot is teleoperated through a Phantom Desktop haptic device from Sensable Technologies. An impedance controller is used to control the robot.
This work is in collaboration with the Joint Japanese-French Robotics Laboratory (JRL) at AIST, Tsukuba, Japan.