A Skill-Based Autonomous Control Method for Robotic Teleoperation

被引：0
|
作者：
Zang, Xizhe [1 ]
Zhao, Jie [1 ]
Cai, Hegao [1 ]
机构：
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, PT I, PROCEEDINGS | 2008年 / 5314卷
关键词：
robotic teleoperation; human skill; autonomous control; support vector machine; time delay;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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.
引用
收藏
页码：679 / 688
页数：10
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