Haptics-2

A system for bilateral control experiments from space to ground via geosynchronous satellites

Conference Paper (2016)
Author(s)

Andre Schiele (European Space Agency (ESA), TU Delft - Biomechatronics & Human-Machine Control)

T. Krüger

S. Kimmer (TU Delft - Biomechatronics & Human-Machine Control)

Manuel Aiple (TU Delft - Biomechatronics & Human-Machine Control)

J.L. Pinto Rebelo (TU Delft - Biomechatronics & Human-Machine Control)

J Smisek (TU Delft - Control & Simulation)

Emiel Den Exter

E. Mattheson

A. Hernandez

F. van der Hulst

Research Group
Biomechatronics & Human-Machine Control
DOI related publication
https://doi.org/10.1109/SMC.2016.7844354
More Info
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Publication Year
2016
Language
English
Research Group
Biomechatronics & Human-Machine Control
Pages (from-to)
892-897
ISBN (electronic)
9781509018970

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.

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