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Reasons for singularity in robot teleoperation

Published: 03 March 2014 Publication History

Abstract

In this paper, the causes for singularity of a robot arm in teleoperation for robot learning from demonstration are analyzed. Singularity is the alignment of robot joints, which prevents the configuration of the inverse kinematics. Inspired by users' own hypotheses, we investigated speed and delay as possible causes. The results show that delay causes problems during teleoperation though not in direct control with a control panel because users expect a different, more intuitive control in teleoperation. Speed on the other hand was not found to have an effect on the occurrence of singularity.

References

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Demiris, Y., & Hayes, G. (2002). Imitation as a dual-route process featuring predictive and learning components. Imitation in Animals and Artifacts. Dautenhahn, K., & Nehaniv, C. L., eds. Cambridge, MA: MIT Press. 327--361.
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Cited By

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  • (2020)Multimodal Feedback in Human-Robot InteractionRobotic Systems10.4018/978-1-7998-1754-3.ch049(990-1017)Online publication date: 2020
  • (2016)Multimodal Feedback in Human-Robot InteractionHandbook of Research on Human-Computer Interfaces, Developments, and Applications10.4018/978-1-5225-0435-1.ch006(135-161)Online publication date: 2016
  • (2015)A novel tele-operation device allowing for dynamic switching between control points during learning from demonstration2015 10th International Workshop on Robot Motion and Control (RoMoCo)10.1109/RoMoCo.2015.7219753(314-318)Online publication date: Jul-2015
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  1. Reasons for singularity in robot teleoperation

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    cover image ACM Conferences
    HRI '14: Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
    March 2014
    538 pages
    ISBN:9781450326582
    DOI:10.1145/2559636
    Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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    Published: 03 March 2014

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    Author Tags

    1. learning from demonstration
    2. singularity
    3. teleoperation

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    HRI '14 Paper Acceptance Rate 32 of 132 submissions, 24%;
    Overall Acceptance Rate 268 of 1,124 submissions, 24%

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    View all
    • (2020)Multimodal Feedback in Human-Robot InteractionRobotic Systems10.4018/978-1-7998-1754-3.ch049(990-1017)Online publication date: 2020
    • (2016)Multimodal Feedback in Human-Robot InteractionHandbook of Research on Human-Computer Interfaces, Developments, and Applications10.4018/978-1-5225-0435-1.ch006(135-161)Online publication date: 2016
    • (2015)A novel tele-operation device allowing for dynamic switching between control points during learning from demonstration2015 10th International Workshop on Robot Motion and Control (RoMoCo)10.1109/RoMoCo.2015.7219753(314-318)Online publication date: Jul-2015
    • (2014)Technologies for the Fast Set-Up of Automated Assembly ProcessesKI - Künstliche Intelligenz10.1007/s13218-014-0329-928:4(305-313)Online publication date: 9-Oct-2014

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