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A review on manipulation skill acquisition through teleoperation-based learning from demonstration

Si, Weiyong; Wang, Ning; Yang, Chenguang

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Authors

Weiyong Si



Abstract

Manipulation skill learning and generalization have gained increasing attention due to the wide applications of robot manipulators and the spurt of robot learning techniques. Especially, the learning from demonstration method has been exploited widely and successfully in the robotic community, and it is regarded as a promising direction to realize the manipulation skill learning and generalization. In addition to the learning techniques, the immersive teleoperation enables the human to operate a remote robot with an intuitive interface and achieve the telepresence. Thus, it is a promising way to transfer manipulation skills from humans to robots by combining the learning methods and the teleoperation, and adapting the learned skills to different tasks in new situations. This review, therefore, aims to provide an overview of immersive teleoperation for skill learning and generalization to deal with complex manipulation tasks. To this end, the key technologies, e.g. manipulation skill learning, multimodal interfacing for teleoperation and telerobotic control, are introduced. Then, an overview is given in terms of the most important applications of immersive teleoperation platform for robot skill learning. Finally, this survey discusses the remaining open challenges and promising research topics.

Citation

Si, W., Wang, N., & Yang, C. (2021). A review on manipulation skill acquisition through teleoperation-based learning from demonstration. Cognitive Computation and Systems, 1-16. https://doi.org/10.1049/ccs2.12005

Journal Article Type Article
Acceptance Date Nov 30, 2020
Online Publication Date Feb 22, 2021
Publication Date 2021-03
Deposit Date Apr 29, 2021
Publicly Available Date Apr 29, 2021
Journal Cognitive Computation and Systems
Publisher Institution of Engineering and Technology (IET)
Peer Reviewed Peer Reviewed
Pages 1-16
DOI https://doi.org/10.1049/ccs2.12005
Public URL https://uwe-repository.worktribe.com/output/7318640

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