Dynamics in document design: creating text for readers
Dynamics in document design: creating text for readers
Interactive Robot Programming Based on Human Demonstration and Advice
Selected Papers from the International Workshop on Sensor Based Intelligent Robots
Imitation in animals and artifacts
A survey of robot learning from demonstration
Robotics and Autonomous Systems
Robot Programming by Demonstration
Robot Programming by Demonstration
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In this paper, the causes for singularity of a robot arm in teleoperation for robot learning from demonstration are analyzed. Singularity is the alignment of robot joints, which prevents the configuration of the inverse kinematics. Inspired by users' own hypotheses, we investigated speed and delay as possible causes. The results show that delay causes problems during teleoperation though not in direct control with a control panel because users expect a different, more intuitive control in teleoperation. Speed on the other hand was not found to have an effect on the occurrence of singularity.