Softbot: Software-based lead-through for rigid servo robots

Yackov Lubarsky, Amit Wolf, Lior Wolf, Curime Batliner, Jake Newsum
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
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.
doi:10.1109/icra.2016.7487390 dblp:conf/icra/LubarskyWWBN16 fatcat:yhlhntoipzbyniiqki4ekmlsvq