TY - GEN
T1 - Softbot
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
AU - Lubarsky, Yackov
AU - Wolf, Amit
AU - Wolf, Lior
AU - Batliner, Curime
AU - Newsum, Jake
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - In this paper, we present an interactive control method for rigid robotics. The core of the method is a neural network classifier that maps position and torque readings to a force direction in 3D space. We show that running our method online allows a human to move the robot along a desired path by performing intuitive pushes and pulls on the robot's joints. The setup is sensorless: no additional sensors, other than those already integral to the rigid joint itself, are added to the manipulator or used in the process.
AB - In this paper, we present an interactive control method for rigid robotics. The core of the method is a neural network classifier that maps position and torque readings to a force direction in 3D space. We show that running our method online allows a human to move the robot along a desired path by performing intuitive pushes and pulls on the robot's joints. The setup is sensorless: no additional sensors, other than those already integral to the rigid joint itself, are added to the manipulator or used in the process.
UR - http://www.scopus.com/inward/record.url?scp=84977558998&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2016.7487390
DO - 10.1109/ICRA.2016.7487390
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AN - SCOPUS:84977558998
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2401
EP - 2407
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 16 May 2016 through 21 May 2016
ER -