# Shared Autonomy via Variable Impedance Control and Virtual Potential Fields for Encoding Human Demonstration

arXiv: https://arxiv.org/abs/2403.12720 · HTML: https://mlsanity.com/paper/2403.12720/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Mar 2024.

## Built on by (most cited first, 1 of 1)

- [Interactive incremental learning of generalizable skills with local trajectory modulation](https://mlsanity.com/paper/2409.05655/) (2024)

## Abstract (arXiv)

This article introduces a framework for complex human-robot collaboration tasks, such as the co-manufacturing of furniture. For these tasks, it is essential to encode tasks from human demonstration and reproduce these skills in a compliant and safe manner. Therefore, two key components are addressed in this work: motion generation and shared autonomy. We propose a motion generator based on a time-invariant potential field, capable of encoding wrench profiles, complex and closed-loop trajectories, and additionally incorporates obstacle avoidance. Additionally, the paper addresses shared autonomy (SA) which enables synergetic collaboration between human operators and robots by dynamically allocating authority. Variable impedance control (VIC) and force control are employed, where impedance and wrench are adapted based on the human-robot autonomy factor derived from interaction forces. System passivity is ensured by an energy-tank based task passivation strategy. The framework's efficacy is validated through simulations and an experimental study employing a Franka Emika Research 3 robot. More information can be found on the project website https://shailjadav.github.io/SALADS/