Haptics-2

A system for bilateral control experiments from space to ground via geosynchronous satellites

Conference paper (2016)

Authors

A. Schiele European Space Agency (ESA), Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
S. Kimmer Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
M. Aiple Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
J.L. Pinto Rebelo Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
Research Group
Biomechatronics & Human-Machine Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2016

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Biomechanical Engineering

Research Group

Biomechatronics & Human-Machine Control

Abstract

This paper introduces a new Learning from Demonstration (LfD)-based method that makes usage of robot effector forces and torques recorded during expert demonstrations, to generate force-based haptic guidance reference trajectories on-line, that are intended to be used during haptic shared control for additional operator 'guidance'. Derived haptic guidance trajectories are superimposed to master-device inputs and feedback forces within a bilateral control experiment, to assist an operator by the guidance during peg-in-hole insertion. We show that 96 peg-in-hole expert demonstrations were sufficient to obtain a good model of the task, which was used on-line to generate haptic guidance trajectories in real-time with a 1kHz sampling rate.