Disagreement-Aware Variable Impedance (DAVI) controller

If you found this repo useful for your research, please cite it as:

@inproceedings{spaa2022disagreement,
  title={Disagreement-Aware Variable Impedance Control for Online Learning of Physical Human-Robot Cooperation Tasks},
  author={Spaa, Linda van der and Franzese, Giovanni and Kober, Jens and Gienger, Michael},
  booktitle={ICRA 2022 full day workshop - Shared Autonomy in Physical Human-Robot Interaction: Adaptability and Trust},
  year={2022}
}

This repo uses Franka Human Friendly Controllers (https://github.com/franzesegiovanni/franka_human_friendly_controllers) to interface with a Franka Emika Panda robot. Please first follow the installation instructions in that repo to set up both Franka ROS and the Human Friendly controller.

Demo

To run the demo of teaching the robot where and how to place a paper cup:

• Clone this repository
• Open a new terminal in: DAVI_controller/python
• Do not forget to: source <catkin_ws>/devel/setup.bash
• Run the main file: python3 main.py

The robot will move to make the gripper face down, and then switch to gravity compensation. The robot can now be moved to the desired initial end-effector position. Upon pressing enter, the model is further initialized and the Episodes can be started and quit via the keyboard.

Watch our demo here: https://youtu.be/toIUuFguFgM