Human-Agent Shared Teleoperation: A Case Study Utilizing Haptic Feedback

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Even though teleoperation has been widely used in many application areas including nuclear waste handling, underwater manipulation and outer space applications, the required mental workload from human operator still remains high. Some delicate and complex tasks even require multiple operators. Learning from Demonstration (LfD) through teleoperation can provide a solution for repetitive tasks, but in many cases, one task can be a combination of repetitive and varying motion. This paper introduces a shared teleoperation method between human and agent, trained by LfD through teleoperation. In the proposed method, human takes charge of uncertain or critical motion, whereas more mundane and repetitive motion could be carried out through the assistance of the agent. The proposed method has exhibited superior performance as compared to the human-only teleoperation for a peg-in-hole task. © 2019, Springer Nature Singapore Pte Ltd.
Publisher
AsiaHaptics Society
Issue Date
2018-11-14
Language
English
Citation

3rd International AsiaHaptics Conference, 2018, pp.247 - 251

ISSN
1876-1100
DOI
10.1007/978-981-13-3194-7_56
URI
http://hdl.handle.net/10203/280362
Appears in Collection
CE-Conference Papers(학술회의논문)
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