Haptics-2: A system for bilateral control experiments from space to ground via geosynchronous satellites

Andre Schiele; T. Krüger; Stefan Kimmer; Manuel Aiple; Joao Pinto Rebelo; Jan Smisek; Emiel den Exter; E. Mattheson; A. Hernandez; F. van der Hulst

doi:10.1109/SMC.2016.7844354

Haptics-2: A system for bilateral control experiments from space to ground via geosynchronous satellites

Andre Schiele, T. Krüger, Stefan Kimmer, Manuel Aiple, Joao Pinto Rebelo, Jan Smisek, Emiel den Exter, E. Mattheson, A. Hernandez, F. van der Hulst

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

21 Citations (Scopus)

Abstract

This paper introduces a new Learning from Demonstration (LfD)-based method that makes usage of robot effector forces and torques recorded during expert demonstrations, to generate force-based haptic guidance reference trajectories on-line, that are intended to be used during haptic shared control for additional operator 'guidance'. Derived haptic guidance trajectories are superimposed to master-device inputs and feedback forces within a bilateral control experiment, to assist an operator by the guidance during peg-in-hole insertion. We show that 96 peg-in-hole expert demonstrations were sufficient to obtain a good model of the task, which was used on-line to generate haptic guidance trajectories in real-time with a 1kHz sampling rate.

Original language	English
Title of host publication	Proceedings 2016 IEEE International Conference on Systems, Man, and Cybernetics - SMC 2016
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	892-897
ISBN (Electronic)	9781509018970
DOIs	https://doi.org/10.1109/SMC.2016.7844354
Publication status	Published - 2016
Event	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary Duration: 9 Oct 2016 → 12 Oct 2016

Conference

Conference	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
Country/Territory	Hungary
City	Budapest
Period	9/10/16 → 12/10/16

Keywords

Haptic interfaces
Aerospace electronics
Computers
Space vehicles
Satellites
Real-time systems
Cameras

Access to Document

10.1109/SMC.2016.7844354

Cite this

Schiele, A., Krüger, T., Kimmer, S., Aiple, M., Pinto Rebelo, J., Smisek, J., den Exter, E., Mattheson, E., Hernandez, A., & van der Hulst, F. (2016). Haptics-2: A system for bilateral control experiments from space to ground via geosynchronous satellites. In Proceedings 2016 IEEE International Conference on Systems, Man, and Cybernetics - SMC 2016 (pp. 892-897). IEEE. https://doi.org/10.1109/SMC.2016.7844354

@inproceedings{78bd00d9737d4108bc8fc3002ee086b0,

title = "Haptics-2: A system for bilateral control experiments from space to ground via geosynchronous satellites",

abstract = "This paper introduces a new Learning from Demonstration (LfD)-based method that makes usage of robot effector forces and torques recorded during expert demonstrations, to generate force-based haptic guidance reference trajectories on-line, that are intended to be used during haptic shared control for additional operator 'guidance'. Derived haptic guidance trajectories are superimposed to master-device inputs and feedback forces within a bilateral control experiment, to assist an operator by the guidance during peg-in-hole insertion. We show that 96 peg-in-hole expert demonstrations were sufficient to obtain a good model of the task, which was used on-line to generate haptic guidance trajectories in real-time with a 1kHz sampling rate.",

keywords = "Haptic interfaces, Aerospace electronics, Computers, Space vehicles, Satellites, Real-time systems, Cameras",

author = "Andre Schiele and T. Kr{\"u}ger and Stefan Kimmer and Manuel Aiple and {Pinto Rebelo}, Joao and Jan Smisek and {den Exter}, Emiel and E. Mattheson and A. Hernandez and {van der Hulst}, F.",

year = "2016",

doi = "10.1109/SMC.2016.7844354",

language = "English",

pages = "892--897",

booktitle = "Proceedings 2016 IEEE International Conference on Systems, Man, and Cybernetics - SMC 2016",

publisher = "IEEE",

address = "United States",

note = "2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 ; Conference date: 09-10-2016 Through 12-10-2016",

}

Schiele, A, Krüger, T, Kimmer, S, Aiple, M, Pinto Rebelo, J, Smisek, J, den Exter, E, Mattheson, E, Hernandez, A & van der Hulst, F 2016, Haptics-2: A system for bilateral control experiments from space to ground via geosynchronous satellites. in Proceedings 2016 IEEE International Conference on Systems, Man, and Cybernetics - SMC 2016 . IEEE, Piscataway, NJ, USA, pp. 892-897, 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016, Budapest, Hungary, 9/10/16. https://doi.org/10.1109/SMC.2016.7844354

Haptics-2: A system for bilateral control experiments from space to ground via geosynchronous satellites. / Schiele, Andre; Krüger, T.; Kimmer, Stefan et al.
Proceedings 2016 IEEE International Conference on Systems, Man, and Cybernetics - SMC 2016 . Piscataway, NJ, USA: IEEE, 2016. p. 892-897.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Schiele, Andre

AU - Krüger, T.

AU - Kimmer, Stefan

AU - Aiple, Manuel

AU - Pinto Rebelo, Joao

AU - Smisek, Jan

AU - den Exter, Emiel

AU - Mattheson, E.

AU - Hernandez, A.

AU - van der Hulst, F.

PY - 2016

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N2 - This paper introduces a new Learning from Demonstration (LfD)-based method that makes usage of robot effector forces and torques recorded during expert demonstrations, to generate force-based haptic guidance reference trajectories on-line, that are intended to be used during haptic shared control for additional operator 'guidance'. Derived haptic guidance trajectories are superimposed to master-device inputs and feedback forces within a bilateral control experiment, to assist an operator by the guidance during peg-in-hole insertion. We show that 96 peg-in-hole expert demonstrations were sufficient to obtain a good model of the task, which was used on-line to generate haptic guidance trajectories in real-time with a 1kHz sampling rate.

AB - This paper introduces a new Learning from Demonstration (LfD)-based method that makes usage of robot effector forces and torques recorded during expert demonstrations, to generate force-based haptic guidance reference trajectories on-line, that are intended to be used during haptic shared control for additional operator 'guidance'. Derived haptic guidance trajectories are superimposed to master-device inputs and feedback forces within a bilateral control experiment, to assist an operator by the guidance during peg-in-hole insertion. We show that 96 peg-in-hole expert demonstrations were sufficient to obtain a good model of the task, which was used on-line to generate haptic guidance trajectories in real-time with a 1kHz sampling rate.

KW - Haptic interfaces

KW - Aerospace electronics

KW - Computers

KW - Space vehicles

KW - Satellites

KW - Real-time systems

KW - Cameras

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DO - 10.1109/SMC.2016.7844354

M3 - Conference contribution

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BT - Proceedings 2016 IEEE International Conference on Systems, Man, and Cybernetics - SMC 2016

PB - IEEE

CY - Piscataway, NJ, USA

Y2 - 9 October 2016 through 12 October 2016

ER -

Haptics-2: A system for bilateral control experiments from space to ground via geosynchronous satellites

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