Haptic guidance to solve the peg-in-hole task based on learning from demonstration
C. J. Perez-Del-Pulgar (European Space Agency (ESA), Universidad de Málaga)
Jan Smisek (TU Delft - Aerospace Engineering, European Space Agency (ESA))
V. F. Munoz (Universidad de Málaga)
André Schiele (TU Delft - Mechanical Engineering, European Space Agency (ESA))
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Abstract
Learning from Demonstration has been successfully used in robotics for trajectory generation. However, this methodology has not been used to solve generic
tasks by haptic guidance in teleoperation yet. Therefore, the aim of this paper is to solve the peg-in-hole insertion task using Learning from Demonstration, guiding the operator during the execution of this task in haptic teleoperation.
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