DocumentCode :
301555
Title :
Human-to-robot skill transfer via teleoperation
Author :
Grudic, G.Z. ; Lawrence, P.D.
Author_Institution :
Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada
Volume :
3
fYear :
1995
fDate :
22-25 Oct 1995
Firstpage :
2109
Abstract :
Programming robots to work in unstructured, changing environments, has proven to be difficult. Humans, however, effectively function in such environments. We propose a framework for programming robotic tasks using teleoperation based human-to-robot skill transfer. We assume that there exists a human expert who can accomplish a task in an unstructured environment solely through teleoperation based feedback. The human expert performs the desired task a number of times while her/his input/output pairs are being recorded. This recorded data is used to construct a mapping between these sensor inputs and actuator outputs. The mapping is then used to autonomously control the robot. In this paper we propose a set of characteristics which a human-to-robot skill transfer system should have. We then summarize the system we have implemented and present the results of some experiments we have done in skill transfer in unstructured environments
Keywords :
feedback; knowledge representation; learning systems; man-machine systems; robot programming; robots; telecontrol; actuator outputs; feedback; human-to-robot skill transfer; knowledge representation; learning systems; robot task programming; sensor inputs; teleoperation; Actuators; Automobile manufacture; Humans; Robot control; Robot programming; Robot sensing systems; Robotic assembly; Sensor phenomena and characterization; Service robots; Welding;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
Type :
conf
DOI :
10.1109/ICSMC.1995.538091
Filename :
538091
Link To Document :
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