Park, Seongsik Lee, Woongyong Chung, Wan Kyun Kim, Keehoon 2024-01-19T21:01:32Z 2024-01-19T21:01:32Z 2021-09-02 2019-02 1551-3203 https://pubs.kist.re.kr/handle/201004/120433 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. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC IMPEDANCE CONTROL STIFFNESS Programming by Demonstration Using the Teleimpedance Control Scheme: Verification by an sEMG-Controlled Ball-Trapping Robot Article 10.1109/TII.2018.2876676 1 IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, v.15, no.2, pp.998 - 1006 IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 15 2 998 1006 scie scopus 000458199000035 2-s2.0-85055023842 Automation & Control Systems Computer Science, Interdisciplinary Applications Engineering, Industrial Automation & Control Systems Computer Science Engineering Article IMPEDANCE CONTROL STIFFNESS Impedance control programming by demonstration surface electromyogram teleimpedance control