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Journal Articles Autonomous Robots Year : 2017

Co-manipulation with a Library of Virtual Guiding Fixtures

Gennaro Raiola
Pauline Chevalier
Sami Tliba
Freek Stulp


Virtual guiding fixtures constrain the movements of a robot to task-relevant trajectories, and have been successfully applied to, for instance, surgical and manufacturing tasks. Whereas previous work has considered guiding fixtures for single tasks, in this paper we propose a library of guiding fixtures for multiple tasks, and propose methods for 1) Creating and adding guides based on machine learning; 2) Selecting guides on-line based on probabilistic implementation of guiding fixtures; 3) Refining existing guides based on an incremental learning method. We demonstrate in an industrial task that a library of guiding fixtures provides an intuitive haptic interface for joint human-robot completion of tasks, and improves performance in terms of task execution time, mental workload and errors.
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Dates and versions

hal-02158827 , version 2 (13-12-2017)
hal-02158827 , version 3 (18-06-2019)
hal-02158827 , version 1 (18-06-2019)



Gennaro Raiola, Susana Sanchez Restrepo, Pauline Chevalier, Pedro Rodriguez-Ayerbe, Xavier Lamy, et al.. Co-manipulation with a Library of Virtual Guiding Fixtures. Autonomous Robots, 2017, pp.1-15. ⟨10.1007/s10514-017-9680-7⟩. ⟨hal-02158827v3⟩
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