Abstract
This paper introduces a new Learning from Demonstration (LfD)-based method that makes usage of robot effector forces and torques recorded during expert demonstrations, to generate force-based haptic guidance reference trajectories on-line, that are intended to be used during haptic shared control for additional operator 'guidance'. Derived haptic guidance trajectories are superimposed to master-device inputs and feedback forces within a bilateral control experiment, to assist an operator by the guidance during peg-in-hole insertion. We show that 96 peg-in-hole expert demonstrations were sufficient to obtain a good model of the task, which was used on-line to generate haptic guidance trajectories in real-time with a 1kHz sampling rate.
Original language | English |
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Title of host publication | Proceedings 2016 IEEE International Conference on Systems, Man, and Cybernetics - SMC 2016 |
Place of Publication | Piscataway, NJ, USA |
Publisher | IEEE |
Pages | 892-897 |
ISBN (Electronic) | 9781509018970 |
DOIs | |
Publication status | Published - 2016 |
Event | 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary Duration: 9 Oct 2016 → 12 Oct 2016 |
Conference
Conference | 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 |
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Country/Territory | Hungary |
City | Budapest |
Period | 9/10/16 → 12/10/16 |
Keywords
- Haptic interfaces
- Aerospace electronics
- Computers
- Space vehicles
- Satellites
- Real-time systems
- Cameras