Online Transfer and Adaptation of Tactile Skill: A Teleoperation Framework
Xiao Chen, Tianle Ni, Kübra Karacan, Hamid Sadeghian, Sami Haddadin
Abstract
This paper presents a teleoperation framework designed for online learning and adaptation of tactile skills, which provides an intuitive interface without need for physical access to execution robot. The proposed tele-teaching approach utilizes periodical Dynamical Movement Primitives (DMP) and Recursive Least Square (RLS) for generating tactile skills. An autonomy allocation strategy, guided by the learning confidence and operator intention, ensures a smooth transition between human demonstration to autonomous robot operation. Our experimental results with two 7 Degree of Freedom (DoF) Franka Panda robot demonstrates that the tele-teaching framework facilitates online motion and force learning and adaptation within a few iterations.
BibTeX
@inproceedings{
chen2024online,
title={Online Transfer and Adaptation of Tactile Skill: A Teleoperation Framework},
author={Xiao Chen and Tianle Ni and K{\"u}bra Karacan and Hamid Sadeghian and Sami Haddadin},
booktitle={8th Annual Conference on Robot Learning},
year={2024},
url={https://openreview.net/forum?id=6X3ybeVpDi}
}