Titlebook: Human-Friendly Robotics 2019; 12th International W Federica Ferraguti,Valeria Villani,Marcello Bonfè Conference proceedings 2020 Springer N

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Closing the Feedback Loop: The Relationship Between Input and Output Modalities in Human-Robot Inteenerally tended to focus on one part of the communication, ignoring the relationship between control and feedback modalities. We aim to understand whether the relationship between a user’s control modality and a robot’s feedback modality influences the quality of the interaction and if so, find the

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Incremental Motion Reshaping of Autonomous Dynamical Systems,ting its stability properties. The reshaping term is considered as an additive control input and it is incrementally learned from human demonstrations using Gaussian process regression. We propose a novel parametrization of this control input that preserves the time-independence and the stability of

OTTER

Progressive Automation of Periodic Movements,ement and the robotic manipulator progressively takes the lead until it is able to execute the task autonomously. The basic frequency of the periodic movement in the operational space is determined using adaptive frequency oscillators with Fourier approximation. The multi-dimensionality issue of the

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Fault-Tolerant Physical Human-Robot Interaction via Stiffness Adaptation of Elastic Actuators,gid ones and might be subject to additional technical faults, e.g., stiffness changes. This paper extends previous studies on stiffness-fault-tolerant physical human-robot interaction (pHRI) through control adaptation, introducing new methods for stiffness estimation and fault evaluation. Kalman fil