Teleoperation for learning by demonstration: Data glove versus object manipulation for intuitive robot control

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Abstract

Learning by demonstration is a useful technique to augment a robot's behavioral inventory, and teleoperation allows lay users to demonstrate novel behaviors intuitively to the robot. In this paper, we compare two modes of teleoperation of an industrial robot, the demonstration by means of a data glove and by means of a control object (peg). Experiments with 16 lay users, performing assembly task on the Cranfield benchmark objects, show that the control peg leads to more success, more efficient demonstration and fewer errors.

Original languageEnglish
Title of host publicationUltra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on
PublisherIEEE
Publication date2014
Pages346-351
DOIs
Publication statusPublished - 2014
Event2014 6th International Congress on - St. Petersburg, Russian Federation
Duration: 6. Oct 20148. Oct 2014
Conference number: 6

Conference

Conference2014 6th International Congress on
Number6
Country/TerritoryRussian Federation
CitySt. Petersburg
Period06/10/201408/10/2014

Keywords

  • Teleoperation
  • Control Device
  • Object Manipulation
  • Robot Control
  • Learning by Demonstration

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