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

Affan Pervez, Hiba Latifee, Jee Hwan Ryu, Dongheui Lee

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

1 Zitat (Scopus)

Abstract

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.

OriginalspracheEnglisch
TitelHaptic Interaction - Perception, Devices and Algorithms, 2018
Redakteure/-innenKi-Uk Kyung, Masashi Konyo, Sang-Youn Kim, Hiroyuki Kajimoto, Dongjun Lee
Herausgeber (Verlag)Springer Verlag
Seiten247-251
Seitenumfang5
ISBN (Print)9789811331930
DOIs
PublikationsstatusVeröffentlicht - 2019
Extern publiziertJa
Veranstaltung3rd International AsiaHaptics Conference, 2018 - Incheon, Südkorea
Dauer: 14 Nov. 201816 Nov. 2018

Publikationsreihe

NameLecture Notes in Electrical Engineering
Band535
ISSN (Print)1876-1100
ISSN (elektronisch)1876-1119

Konferenz

Konferenz3rd International AsiaHaptics Conference, 2018
Land/GebietSüdkorea
OrtIncheon
Zeitraum14/11/1816/11/18

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