Title:
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)
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relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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