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Title:

A Learning-Based Shared Control Approach for Contact Tasks

Document type:
Magazinartikel
Author(s):
Youssef Michel; Zhendong Li; Dongheui Lee
Abstract:
This work presents a novel shared control architecture dedicated to teleoperated contact tasks. We use Learning from Demonstration as a framework to learn a task model that encodes the desired motions, forces and stiffness profiles. Then, the learnt information is used by a Virtual Fixture (VF) to guide the human operator along a nominal task trajectory that captures the task dynamics, while simultaneously adapting the remote robot impedance. Furthermore, we provide haptic guidance in a human-aw...     »
Journal title:
IEEE Robotics and Automation Letters
Year:
2023
Pages contribution:
1 -8
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1109/LRA.2023.3322332
Publisher:
IEEE
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