A Skill-Based Autonomous Control Method for Robotic Teleoperation

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.