Human-to-robot skill transfer through haptic rendered environment
A new paradigm for programming of robotics manipulator is being studied. The teaching of the machine will begin with the necessary skills being demonstrated by the human operator in a virtual environment with tactile sensing (haptics). Position and contact force/torque data generated in the virtual environment combined with a priori knowledge about the task will be used to identify and learn the skills in the newly demonstrated tasks and then to reproduce them in the robotics system. The peg-in-hole insertion problem is used as a case study. The overall concept is described. The methodologies developed to build the virtual environment and to learn the basic skills are presented. The results obtained so far are reported.
Link to publisher version (URL)
Please refer to publisher version or contact your library.