Title | Human-to-robot skill transfer via teleoperation |
Publication Type | Conference Paper |
Year of Publication | 1995 |
Authors | Grudic, G. Z., and P. D. Lawrence |
Conference Name | Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on |
Pagination | 2109 -2114 vol.3 |
Date Published | oct. |
Keywords | actuator outputs, feedback, human-to-robot skill transfer, knowledge representation, learning systems, man-machine systems, robot programming, robot task programming, robots, sensor inputs, telecontrol, teleoperation |
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 |
URL | http://dx.doi.org/10.1109/ICSMC.1995.538091 |
DOI | 10.1109/ICSMC.1995.538091 |