A Skill-Based Autonomous Control Method for Robotic Teleoperation

Authors:
Xizhe Zang;Jie Zhao;Hegao Cai
Affiliations:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China 150001;State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China 150001;State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China 150001
Venue:
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Year:
2008

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Abstract

Robot autonomous control is emerging as a powerful method for robotic teleoperation. Human skill researches provide a new prospect for robot autonomous control, by transferring the skill information into the control of robot system. The paper presents a novel skill-based autonomous control method and also an implementation of skill-based controller including optimal filter, skill learner and force-controller. The experiments of robotic peg-in-hole task based human skills are conducted and prove the effectiveness of the control method.