Impedance control allows robots to manipulate physical interactions delicately. However, issues associated with path planning and impedance remain unresolved. Herein we propose a path and impedance planning method for impedance control in a robot based on programming by demonstration through telemanipulation using a surface electromyogram. We considered a task that requires quick and precise adjustment of path and impedance, that is, ball trapping. We implemented a teleoperated robot that can deliver an operator's impedance as well as position during the ball trapping task to the slave side. The operators were asked to perform demonstrations of ball-trapping tasks using the implemented teleoperated robot, where the slave side is a vertical robot with one degree of freedom. The path and impedance were recorded and programmed as control input profiles from a set of successful demonstrations using Gaussian mixture regression. The result showed that using the human demonstration, the robot could learn how to catch a dropped ball without rebounding.

中文翻译：

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使用远程阻抗控制方案进行演示编程：通过 sEMG 控制的捕球机器人进行验证


阻抗控制使机器人能够巧妙地操纵物理交互。然而，与路径规划和阻抗相关的问题仍未解决。在此，我们提出了一种用于机器人阻抗控制的路径和阻抗规划方法，该方法基于通过使用表面肌电图进行远程操作演示的编程。我们考虑了一项需要快速精确调整路径和阻抗的任务，即捕球。我们实现了一个远程操作机器人，可以将操作员的阻抗以及在接球任务期间的位置传递给从属端。操作员被要求使用所实现的远程操作机器人来执行捕获球任务的演示，其中从属侧是具有一个自由度的垂直机器人。路径和阻抗被记录并编程为来自使用高斯混合回归的一组成功演示的控制输入配置文件。结果表明，通过人类的演示，机器人可以学习如何接住掉落的球而不反弹。