Human-to-robot skill transfer via teleoperation

TitleHuman-to-robot skill transfer via teleoperation
Publication TypeConference Paper
Year of Publication1995
AuthorsGrudic, G. Z., and P. D. Lawrence
Conference NameSystems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Pagination2109 -2114 vol.3
Date Publishedoct.
Keywordsactuator 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

URLhttp://dx.doi.org/10.1109/ICSMC.1995.538091
DOI10.1109/ICSMC.1995.538091

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