Author
Peternel, L., Öztop, Erhan, Babič, J.
Publication Date
2016
Publication Place
-
IEEE
Subject
Robot sensing systems, Education, Training data, Predictive models, Force, Robot control
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
2153-0866
Record ID
35132b84-3016-4f25-9860-ab74aaa331b8
Library Location
Computer Science
Date
2016
Notes
European Commission
Sample Text
We propose a novel method that arbitrates the control between the human and the robot actors in a teaching-by-demonstration setting to form synergy between the two and facilitate effective skill synthesis on the robot. We employed the human-in-the-loop teaching paradigm to teleoperate and demonstrate a complex task execution to the robot in real-time. As the human guides the robot to perform the task, the robot obtains the skill online during the demonstration. To encode the robotic skill we employed Locally Weighted Regression that fits local models to specific state region of the task based on the human demonstration. If the robot is in the state region where no local models exist, the control over the robotic mechanism is given to the human to perform the teaching. When local models are gradually obtained in that region, the control is given to the robot so that the human can examine its performance already during the demonstration stage, and take actions accordingly. This enables a co-adaptation between the agents and contributes to a faster and more efficient teaching. As a proof-of-concept, we realised the proposed robot teaching system on a haptic robot with the task of generation of a desired vertical force on a horizontal plane with unknown stiffness properties.
DOI
10.1109/IROS.2016.7759574
