Title:
Haptically Guided Teleoperation for Learning Manipulation Tasks
Haptically Guided Teleoperation for Learning Manipulation Tasks
dc.contributor.author | Howard, Ayanna M. | en_US |
dc.contributor.author | Park, Chung Hyuk | en_US |
dc.contributor.corporatename | Georgia Institute of Technology. School of Electrical and Computer Engineering | en_US |
dc.contributor.corporatename | Georgia Institute of Technology. Human-Automation Systems Lab | en_US |
dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
dc.date.accessioned | 2011-04-12T19:54:30Z | |
dc.date.available | 2011-04-12T19:54:30Z | |
dc.date.issued | 2007-06 | |
dc.description | Presented at Science and Systems: Workshop on Robot Manipulation, Atlanta, GA, June 2007. | en_US |
dc.description.abstract | In this paper, we present a methodology that uses control signals provided through guided teleoperation to assist in the learning of new manipulation tasks. The approach incorporates haptic feedback that guides human behavior in performing a manipulation task using guidance forces derived from visual input data. The control signals provided by the user are then utilized by the robotic system to learn the control sequences necessary for task execution. A neural network learning method that incorporates historical information is utilized for the learning process. The primary focus of our approach is to develop a method to enable the robotic system to improve its ability to learn manipulation tasks, whether or not the instruction is provided by an expert or general user. The methodology is explained in detail, and results of a manipulation system learning an object-centering task is presented. | en_US |
dc.identifier.citation | A. Howard, C.H. Park, “Haptically Guided Teleoperation for Learning Manipulation Tasks,” Robotics: Science and Systems: Workshop on Robot Manipulation, Atlanta, GA, June 2007. | en_US |
dc.identifier.uri | http://hdl.handle.net/1853/38495 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.subject | Control signals | en_US |
dc.subject | Teleoperation | en_US |
dc.subject | Manipulation tasks | en_US |
dc.subject | Neural network learning methods | en_US |
dc.title | Haptically Guided Teleoperation for Learning Manipulation Tasks | en_US |
dc.type | Text | |
dc.type.genre | Proceedings | |
dspace.entity.type | Publication | |
local.contributor.author | Howard, Ayanna M. | |
local.contributor.corporatename | School of Civil and Environmental Engineering | |
local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
relation.isAuthorOfPublication | 6d77e175-105c-4b0b-9548-31f20e60e20a | |
relation.isOrgUnitOfPublication | 88639fad-d3ae-4867-9e7a-7c9e6d2ecc7c | |
relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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